Abstract
We propose a method to establish a dynamic model for a waveglider, a wave-propelled sea surface vehicle that can make use ofwave energy to obtain thrust. The vehicle, composed of a surface floatand a submerged glider in sea water, is regarded as a two-particlesystem. Kane’s equations are used to establish the dynamic model.To verify the model, the design of a testing prototypeis proposed and pool trials are conducted. The speeds of the vehicleunder different sea conditions can be computed using the model, whichis verified by pool trials. The optimal structure parameters usefulfor vehicle designs can also be obtained from the model. We illustratehow to build an analytical dynamics model for the wave glider, whichis a crucial basis for the vehicle’s motion control. The dynamicsmodel also provides foundations for an off-line simulation of vehicleperformance and the optimization of its mechanical designs.