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China Ocean Engineering - The flying-wing underwater glider (UG), shaped as a blended wing body, is a new type of underwater vehicle and still requires further research. The shape layout and the... 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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《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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Motion Analysis and Trials of the Deep Sea Hybrid Underwater Glider Petrel-II 总被引：2，自引：0，他引：2 
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下载免费PDF全文 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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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
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Underwater glider is an autonomous underwater vehicle that glides by controlling their buoyancy and attitude using internal actuators. By changing the vehicle's buoyancy intermittently, vertical motion can be achieved. Characteristics of glider motion include upward and downward movement in a saw tooth pattern, turning and gliding in a vertical spiral motion and gliding without using thrusters or propellers. This paper presents the modelling and identification on net buoyancy, depth and pitching angle of an underwater glider system. A ballast tank subsystem is considered appropriate for the identification process since it is the main parameter for the motion control. By selecting the ballast rate as the input, three aspects of the dynamics of a glider can be observed: buoyancy, depth of the glider and pitching angle. The MATLAB System Identification ToolboxTM is used to obtain a mathematical model of the glider ballast-buoyancy, ballast-depth and ballast-pitching angle conditioning system. The best three parametric estimation models are chosen, and the results of the comparison between simulated and estimated outputs are presented. The information obtained from the modelling and identification approaches are used for USM's Underwater Glider Prototype controller design. The information observed during this procedure are utilised for optimisation, stability, reliability and robustness analysis of the underwater glider. 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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For consideration of 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 Appell equations. The relationships between dynamic behaviors and design parameters are studied by solving the dynamic m... 相似文献
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水下滑翔机是开展海洋无人移动观测的重要平台,其实际航行轨迹往往与预设路径存在较大差异,多台水下滑翔机协同观测时,难以始终保持预设的组网阵列。本研究提出一种基于牛顿力学积分的水下滑翔机群协同控制算法,根据水下滑翔机群出、入水的异步性调节水下滑翔机入水前的运动参数。基于对水下滑翔机受力分析,利用牛顿力学积分还原水下滑翔机在海洋中的运动状态,进而运用水下滑翔机群的协同控制算法同时约束多台水下滑翔机的运动,并开展仿真实验。实验结果证明该算法能够使多台水下滑翔机较好地保持预设组网阵列,从而可对目标海域进行协同观测。 相似文献
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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 parameters with the hotel load are obtained. The optimization results indicate that the segmented control strategy can significantly increase the gliding range when the optimal matching between the net buoyancy and the pitching angle is reached, and the increase rate is influenced by the hotel load. The gliding range of the underwater glider can be increased by 10.47% at a hotel load of 0.5 W. The optimal matching analysis adopted in this study can be applied to other UGs to realize endurance improvement.
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水下滑翔机是一种浮力驱动的无人水下自治观探测平台, 具有持续性、鲁棒性、自主性等特点, 是构建海洋观测技术体系重要的水下航行器之一。文章从水下滑翔机发展历程、运行方式和专用传感器展开, 基于国内外海洋学文献综述研究, 重点对水下滑翔机在典型海洋现象观测应用方面进行总结。水下滑翔机的运行稳定性、长时续, 观测高分辨率、低成本的特点, 满足了对海洋中尺度涡、内波、湍流、环流/边界流和锋面的长时间、精细化立体观测要求; 鲁棒性、自主性的特点使其能够适应台风过境、地震、原油泄漏前后等紧急恶劣海洋状况的监测; 运行平稳、低噪声的特点使其成为声学监测与探测的良好平台。对比分析国内外的水下滑翔机(组网)应用状况可以发现, 国内水下滑翔机在传感器、数据处理和组网技术方面都需要进一步完善。最后总结并展望了国内外水下滑翔机面向海洋现象观测的应用。 相似文献
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为满足对远洋环境进行长时间、大范围监测的实际需求,设计提出一种波浪动力滑翔机,该设备是一种无需携带能源即可实现自主航行的新型海洋监测平台,其主体结构由水面母船、水下牵引机和柔性缆绳三大部分组成。平台通过即时获取海洋中的波浪能、太阳能、风能作为行走的动力源,克服了传统海洋监测设备在能源供应上存在的短板。为进一步提升水下牵引机对波浪能的利用率,采用Ansys软件中的Fluent模块对水下牵引机进行水动力仿真研究,分析了侧翼板形状、侧翼板工作最大摆动角度以及侧翼板安装分布间距对滑翔机总体行走效率的影响。结果表明:NACA翼型侧翼板具有更好的水动力性能;随着最大摆动角度的增加,水下牵引机的推进效率先增大后减小,最大摆角在20°左右时,推进效果最佳;随着侧翼板分布间距的增大,水下牵引机的推进效率逐渐减小,分布间距在80 mm左右时,推进效果最佳。 相似文献
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A finite element method is developed for the stiffened multi-layered airfoil/hydrofoil structure for the large deformation and finite strain problem. The kinematics of the airfoil/hydrofoil is set up. The Consistent Orthogonal Basis Function Space is applied for the airfoil/hydrofoil structure. Given the airfoil/hydrofoil configuration and boundary conditions, the basis function space can be uniquely determined, such that the diagonal mass matrix is obtained accurately and the basis functions are very identical with the mode shape functions of the structure. In order to satisfy the displacement compatibility condition between adjacent layers of the airfoil/hydrofoil, the traction degree-of-freedom is also induced.The post buckling analysis is presented for the wing (hydrofoil) structure of the underwater glider. The water pressure is applied on the outer surface and the critical buckling pressure is calculated. The post buckling equilibrium path is also given. The results are verified with ANSYS. The present study of the buckling analysis of the airfoil/hydrofoil under water pressure is helpful to the design of underwater glider. 相似文献
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水下滑翔机器人运动机理仿真与实验 总被引：1，自引：0，他引：1
对水下滑翔机器人SEA-WING的定常滑翔运动和空间定常螺旋回转运动进行机理分析,针对其特定水动力系数进行仿真,得出其运动机理特性.在此基础上,通过湖试实验数据对仿真结果进行验证,认为对于定常滑翔运动,以约36°航迹角滑行可得到最大水平速度;在相同航迹角航行情况下,水平方向速度随净浮力的增大而增大.对于定常回转运动,回转半径由载体的质量、俯仰角、水动力参数、横滚角确定.在质量和俯仰角保持不变条件下,横滚角对回转半径的影响较明显,系统的回转半径可以通过控制横滚角来实现的. 相似文献
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水下滑翔机可以高效地观测海水的温度、盐度和压强等海洋参数,但由于热滞后效应,盐度数据,特别是在温度梯度较大的温跃层,会出现一定程度的偏差。本研究选取了3种目前常用的盐度热滞后订正方法,对带泵的“海翼号”水下滑翔机,于2019年8月在中北太平洋所观测的盐度数据因热滞后效应引起的偏差进行订正处理,与船载911型温盐深测量仪(Instrument for Measuring Conductivity Temperature and Depth,CTD)观测盐度进行对比,在比较了3种方法对滑翔机盐度订正前后下降和上升剖面偏差的减少程度、订正后剖面与船载CTD观测剖面的偏差大小和下降上升温盐曲线(T-S曲线)的一致程度后,得出了水下滑翔机盐度订正的最优方法,即在订正电导池中实际温度的前提下,采用计算机图形分割方法,最小化滑翔机机载CTD测得的下降和上升两个剖面T-S曲线围成面积所确定的目标函数,来确定合适的热滞后修正振幅和时间常数,从而修正下降和上升两个剖面之间盐度偏差。 相似文献