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Control parameter optimization is an efficient way to improve the endurance of underwater gliders(UGs), which influences their gliding efficiency and energy consumption. This paper analyzes the optimal matching between the net buoyancy and the pitching angle and proposes a segmented control strategy of Petrel-L. The optimization of this strategy is established based on the gliding range model of UG, which is solved based on the approximate model, and the variations of the optimal control paramet... 相似文献
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A hybrid underwater glider Petrel-II has been developed and field tested. It is equipped with an active buoyancy unit and a compact propeller unit. Its working modes have been expanded to buoyancy driven gliding and propeller driven level-flight, which can make the glider work in strong currents, as well as many other complicated ocean environments. Its maximal gliding speed reaches 1 knot and the propelling speed is up to 3 knots. In this paper, a 3D dynamic model of Petrel-II is derived using linear momentum and angular momentum equations. According to the dynamic model, the spiral motion in the underwater space is simulated for the gliding mode. Similarly the cycle motion on water surface and the depth-keeping motion underwater are simulated for the level-flight mode. These simulations are important to the performance analysis and parameter optimization for the Petrel-II underwater glider. The simulation results show a good agreement with field trials. 相似文献
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《中国海洋工程》2017,(1)
A hybrid underwater glider Petrel-II has been developed and field tested. It is equipped with an active buoyancy unit and a compact propeller unit. Its working modes have been expanded to buoyancy driven gliding and propeller driven level-flight, which can make the glider work in strong currents, as well as many other complicated ocean environments. Its maximal gliding speed reaches 1 knot and the propelling speed is up to 3 knots. In this paper, a 3D dynamic model of Petrel-II is derived using linear momentum and angular momentum equations. According to the dynamic model, the spiral motion in the underwater space is simulated for the gliding mode. Similarly the cycle motion on water surface and the depth-keeping motion underwater are simulated for the level-flight mode. These simulations are important to the performance analysis and parameter optimization for the Petrel-II underwater glider.The simulation results show a good agreement with field trials. 相似文献
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Development and experiments of the Sea-Wing underwater glider 总被引:1,自引:0,他引:1
Underwater gliders,which glide through water columns by use of a pair of wings,are efficient long-distance,long-duration marine environment observatory platforms.The Sea-Wing underwater glider,developed by the Shenyang Institute of Automation,CAS,is designed for the application of deep-sea environment variables observation.The system components,the mechanical design,and the control system design of the Sea-Wing underwater glider are described in this paper.The pitch and roll adjusting models are derived based on the mechanical design,and the adjusting capabilities for the pitch and roll are analyzed according to the models.Field experiments have been carried out for validating the gliding motion and the ability of measuring ocean environment variables.Experimental results of the motion performances of the glider are presented. 相似文献
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For Cconsideration ofing both the eccentric rotatable rigid body and the translational rigid body, the dynamic model of the underwater glider is derived. Dynamical behaviors are also studied based on the model and can be used as the guidance to underwater gliders design. Gibbs function of the underwater glider system is derived first, and then the nonlinear dynamic model is obtained by use of Apell Equations. The relationships between dynamical behaviors and design parameters are studied by solving the dynamic model. The spiral motion, swerving motion in three dimensions and the saw-tooth motion of the underwater glider in vertical plane are studied. Lake trials are carried out to validate the dynamic model. 相似文献
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抛载系统是水下机器人安全工作的核心关键部分。以“思源号”全海深ARV(自治缆控水下机器人)为研究对象,开展ARV作业过程中压载水下释放问题研究。通过在ARV底盘下侧布置下潜抛载模块,上艇体两侧对称布置上浮抛载模块,设计了一套基于电磁驱动的超高压水下抛载系统。利用Maxwell 2D电磁场有限元分析软件对非接触式电磁铁作了静磁场数值分析,得到电磁铁的磁力线与磁通密度分布图,验证了抛载电磁铁可以满足压载吸附和抛弃的功能。设计了一种非磁性钛合金隔离片,用于消除电磁铁断电后存在的吸附效应,解决了抛载失败的问题。开展了电磁吸力测试、可靠性试验、超高压试验以及深海试验,试验结果验证了所设计的全海深ARV抛载系统能够在深海环境下实现水下释放压载,为全海深ARV实现上浮下潜和水下浮态控制提供重要保障。 相似文献
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混合驱动自主潜航器融合了自主潜航器机动灵活和水下滑翔机续航能力强的优点,针对自身携带能源有限的问题,对在两种工作模式下如何实现最大航行距离进行了研究.从航行过程中的能源消耗入手,得出航行距离与速度、电子设备功率等的关系,通过理论分析和仿真手段得出最大续航能力的实现方法.在螺旋桨驱动模式下,当以经济航速航行时,可以达到最大航行距离;在浮力驱动模式下,当以最大滑翔效率航行时,水平方向上的滑翔距离最大,并且水平方向上的滑翔距离随着剖面深度的增大而增大,当剖面深度大到一定程度之后,最大滑翔距离趋于恒定.该研究方法可为类似水下航行器电源管理系统的能源分配提供参考,也可为航行器外形的设计和传感器的选型提供理论指导. 相似文献
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Model-based feedback control of autonomous underwater gliders 总被引:6,自引:0,他引:6
We describe the development of feedback control for autonomous underwater gliders. Feedback is introduced to make the glider motion robust to disturbances and uncertainty. Our focus is on buoyancy-propelled, fixed-wing gliders with attitude controlled by means of active internal mass redistribution. We derive a nonlinear dynamic model of a nominal glider complete with hydrodynamic forces and coupling between the vehicle and the movable internal mass. We use this model to study stability and controllability of glide paths and to derive feedback control laws. For our analysis, we restrict to motion in the vertical plane and consider linear control laws. For illustration, we apply our methodology to a model of our own laboratory-scale underwater glider 相似文献
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Depth-trim mapping control of underwater vehicle with fins 总被引:1,自引:1,他引:0
Underwater vehicle plays an important role in ocean engineering.Depth control by fin is one of the difficulties for underwater vehicle in motion control.Depth control is indirect due to the freedom coupling between trim and axial motion.It includes the method of dynamic analysis and lift-resistance-coefficient experiment and theory algorithm.By considering the current speed and depth deviation,comprehensive interpretation is used in object-planning instruction.Expected depth is transformed into expected trim.Dynamic output fluctuation can be avoided,which is caused by linear mapping of deviation.It is steady and accurate for the motion of controlled underwater vehicles.The feasibility and efficiency of the control method are testified in the pool and natural area for experiments. 相似文献
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水下滑翔机其通过集成生物、化学、物理传感器可以测量如温度、盐度、溶解氧等多种海洋基础水文要素,其利用卫星定位系统获得实际出水速度和理论出水模型获得理论出水速度之差可以计算深度平均流,。本文利用海翼水下滑翔机获得温盐场及卫星定位数据评估深度平均流,结果显示利用温盐场获得深度平均地转流与水下滑翔机获得深度平均流相关系数0.95,表明其流场的一致性,同时根据船载观测ADCP误差分析法估算深度平均流误差约为0.036 m/s。借助深度平均流可以估算绝对地转流,包括正压地转流和斜压地转流。在零动力面的假设下,我们选取了海翼号水下滑翔机在南海的一组实验对流量误差进行了评估。该实验为2019年1月3日-2月16日海翼号水下滑翔机自南向北穿越西沙群岛附近一个中尺度涡观测。观测结果表明,该中尺度涡为冷涡流核,在涡心以南,绝对地转流为东向流,最大流速约为0.48 m/s;涡心以北,绝对地转流为西向流,最大流速约为0.47 m/s,稍弱于南侧。受不均匀时空观测计划影响,本文未对流量做出估计。 相似文献
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海洋湍流混合过程对大洋热盐环流具有重要调控作用,因此海洋湍流混合特征量如湍动能耗散率等物理量的定量刻画,主要通过现场湍流观测来实现。为满足长期连续海洋湍流混合观测资料的迫切需求及打破国外的技术封锁,自行研制了基于水下滑翔机的湍流观测仪。为了测试滑翔机在小尺度湍流观测方面的可行性,将一个携带有剪切探头的湍流仪安装在滑翔机本体上,并在千岛湖进行了一系列的实验。滑翔机平台的主要噪声来源于浮力调节机构中的油泵,油泵会在接近剖面的底端时开启。三轴加速度谱在30 Hz左右有明显的谱峰,说明滑翔机油泵的振动频率应该是在30 Hz左右,在其他频率点上振动较小。由剖面下潜过程(开泵)的波数谱可知,开泵时虽然对湍流观测有影响,但是振动频率在波数空间中处于无效观测谱一侧,由此说明平台的振动对剪切信号影响很小。剪切探头测得的耗散率在10-7 W/kg量级上,且都与Nasymth理论谱吻合良好,验证了滑翔机在小尺度湍流观测方面的可行性。 相似文献
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PETREL,a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV (autonomous underwater vehicle).It can be treated as a multi-rigid-body system with a floating base and a particular hydrodynamic profile.In this paper,theorems on linear and angular momentum are used to establish the dynamic equations of motion of each rigid body and the effect of translational and rotational motion of internal masses on the attitude control are taken into consideration.In addition,due to the unique external shape with fixed wings and deflectable rudders and the dual-drive operation in thrust and glide modes,the approaches of building dynamic model of conventional AUV and hydrodynamic model of submarine are introduced,and the tailored dynamic equations of the hybrid glider are formulated.Moreover,the behaviors of motion in glide and thrust operation are analyzed based on the simulation and the feasibility of the dynamic model is validated by data from lake field trials. 相似文献