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Profiles observed by Sea-Wing underwater gliders are widely applied in scientific research. However, the quality control(QC) of these data has received little attention. The mismatch between the temperature probe and conductivity cell response times generates erroneous salinities, especially across a strong thermocline. A sensor drift may occur owing to biofouling and biocide leakage into the conductivity cell when a glider has operated for several months. It is therefore critical to design a mature real-time QC procedure and develop a toolbox for the QC of Sea-Wing glider data. On the basis of temperature and salinity profiles observed by several Sea-Wing gliders each installed with a Sea-Bird Glider Payload CTD sensor, a real-time QC method including a thermal lag correction, Argo-equivalent real-time QC tests, and a simple post-processing procedure is proposed. The method can also be adopted for Petrel gliders. 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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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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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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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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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 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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Jan Petrich 《Ocean Engineering》2011,38(1):197-204
Attitude control systems for autonomous underwater vehicles are often implemented with separate controllers for pitch motion in the vertical plane and yaw motion in the horizontal plane. We propose a novel time-varying model for a streamlined autonomous underwater vehicle that explicitly displays the coupling between yaw and pitch motion due to nonzero roll angle and/or roll rate. The model facilitates the use of a multi-input multi-output H∞ control design that is robust to yaw-pitch coupling. The efficacy of our approach is demonstrated with field trials. 相似文献
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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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美国Teledyne Webb Research公司按照型号系列化、结构模块化和测量多样化的设计思路研制水下滑翔机,其Slocum 200浅海型和Slocum 1000深海型水下滑翔机在海洋环境观测领域具有广泛的客户需求。文中以200 m浅海型和1 000 m深海型两款水下滑翔机为例,详细对比了两者的技术特点,并在此基础上阐述了两者各自适用的海洋环境观测应用范围,两者优势互补,难以取代对方。浅海型水下滑翔机具有锯齿剖面密度大、折返机动性高和平均前向速度快的特点,适合在近海岸、陆架坡折和深海温跃层等区域对高时空变率海洋现象进行观测。近几年,我国深海型水下滑翔机技术取得了惊人进步,同时,我国浅海型水下滑翔机技术也在快速发展,这对推动我国海洋环境监测业务水平的提升意义重大。 相似文献
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Combining high precision numerical analysis methods with optimization algorithms to make a systematic exploration of a design space has become an important topic in the modern design methods. During the design process of an underwater glider''s flying-wing structure, a surrogate model is introduced to decrease the computation time for a high precision analysis. By these means, the contradiction between precision and efficiency is solved effectively. Based on the parametric geometry modeling, mesh generation and computational fluid dynamics analysis, a surrogate model is constructed by adopting the design of experiment (DOE) theory to solve the multi-objects design optimization problem of the underwater glider. The procedure of a surrogate model construction is presented, and the Gaussian kernel function is specifically discussed. The Particle Swarm Optimization (PSO) algorithm is applied to hydrodynamic design optimization. The hydrodynamic performance of the optimized flying-wing structure underwater glider increases by 9.1%. 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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《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