中文摘要：

水下滑翔器是一种新型海洋测量平台，它采用浮力驱动方式，并依靠调整重心实现姿态控制。文中从研究水下滑翔器纵垂面内滑翔运动的平衡状态入手，通过对将浮力驱动机构布置在滑翔器的艏部和艉部时的平衡状态受力进行对比分析，指出将浮力驱动机构布置在艏部可以有效缩短重心调节重物的移动距离．并分析了两种布局方式的优缺点，为水下滑翔器的结构设计和控制系统设计提供了参考。

英文摘要：

Underwater glider is a new type of platform for marine measurement. It is propelled by buoyancy engine and it can adjust the center of gravity itself to control its attitude. Starting with research on the equilibrium state of the gliding motion in the vertical plane, the results of force analysis show that the movement distance of moving mass can be shorten evidently by disposing the buoyancy engine to the fore part of the underwater glider. Finally, the advantage and disadvantage of these two layouts are analyzed. This research provides an insight into the design and control of underwater glider.