Underwater gliders (UGs) have attracted great attention for their low cost, long range, high endurance, and broad applications in oceanography. However, few studies have been conducted to research motion performances of UGs. In this study, to understand the effects of ocean currents on the motion performances of UGs, a dynamic model of UGs considering ocean currents was established. Based on the dynamic model, motion simulations of the Petrel-Ⅱ UG were conducted. The response time taken for the UG to return to the pitch angle of the undisturbed state, the relative rotation radius of steady spiral motion, and the UG's voyage in a single profile were used to quantitatively evaluate the stability of pitching motion, maneuverability, and cruising ability, respectively. The results show that UGs are self-stable in pitch degree after the disturbance disappears, and a positive axial ocean current or a negative vertical ocean current could remarkably improve UGs' cruising ability. This work provides a quantitative evaluation criterion for motion performances of UGs, enriching the comparative theory of UGs. The dynamic model considering ocean currents would also be useful in path planning and optimization of the control strategy of UGs, and it provides valuable guidance for engineering applications.

水下滑翔机（UG）以其低成本、长航程、高续航力以及在海洋学中的广泛应用而备受关注。然而，很少有研究对UG的运动性能进行研究。在这项研究中，为了了解洋流对 UG 运动性能的影响，建立了考虑洋流的 UG 动力学模型。基于动力学模型，对Petrel-Ⅱ UG进行了运动仿真。以UG恢复到原状俯仰角的响应时间、稳定螺旋运动的相对旋转半径、UG在单一剖面内的航程对俯仰运动的稳定性、机动性和巡航性能进行定量评价。 ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ?能力，分别。结果表明，扰动消失后，UGs的俯仰度数自稳，正向的轴向洋流或负的垂直洋流可以显着提高UGs的巡航能力。该工作为UG的运动性能提供了量化的评价标准，丰富了UG的比较理论。考虑洋流的动力学模型也可用于UGs的路径规划和优化控制策略，为工程应用提供有价值的指导。