CN105841869A - Wave glider floating body stress monitoring device and stress calculation method thereof - Google Patents

Abstract

The invention provides a wave glider floating body stress monitoring device and a stress calculation method thereof. The device comprises an upper fixing ring, a lower fixing ring and three pressure sensors. The upper fixing ring is composed of an upper circular ring and a lower circular ring having a conical internal surface. The lower fixing ring is composed of a lower circular ring and an upper circular ring having a conical external surface. Six screw holes are symmetrically arranged on the conical internal surface of the upper fixing ring and the conical external surface of the lower fixing ring. Each pressure sensor is installed in the corresponding pair of screw holes through double-threaded screws arranged at the two end parts. The device can be used for stress data acquisition of a floating body part and can also be used for connecting the other end to search the stress situation of an underwater glider. Besides, the device is simple and reliable in structure, low in calculation error and low in power consumption so as to provide important reference data for motion control of a wave glider.

Description

Wave glider buoyancy aid load-bearing monitor device and force calculation method

Technical field

The present invention relates to a kind of load-bearing monitor device, particularly relate to a kind of wave glider buoyancy aid load-bearing monitor device and Force Calculation Method.

Background technology

The green resource needed for a large amount of human development is contained in ocean.The mankind are devoted to explore exploitation marine resources always.Multiple many The marine monitoring equipment of sample arises at the historic moment.Buoy, subsurface buoy, ROV, AUV, preventing seabed base, underwater glider etc., respectively have advantage, Shortcoming is the most obvious.Wave glider (Unmanned Wave Glider, UWG) as the autonomous observation platform in a kind of novel ocean, Relatively other equipment tool has great advantage.Its operation cost is low, and observation scope is wide, and ability of carrying is strong, and data transmission is fast, during continuation of the journey Between long, be suitable for severe sea condition.At present, UWG is widely used to the multiple oceans such as biological investigation, weather forecast, environmental monitoring Scientific investigation activity.In the last few years, UWG correlation technique became domestic and international study hotspot.

Wave glider is a kind of using wave energy as navigating power, using solar energy as sensor, control system, communication system The novel sea vehicle of the energy, it is possible to realize the unmanned probing operation of ultra-long time, tremendous range, there is contexture by self, boat The functions such as some tracking, virtual anchoring.Mainly comprising of wave glider includes: surface floating body, underwater gliding body and lashing three Point.Wherein, buoyancy aid part is provided with control system, energy resource system, sensing system, navigation system etc.；Glide vehicle part is pacified Equipped with sensing system, steering wheel, tail vane, propeller etc.；The Main Function of lashing be connect buoyancy aid and glide vehicle and at them it Between transmit information.When wave lifting water surface hull, due to the connection of lashing, underwater gliding body rises the most therewith, at current Under effect, there is downward deflection in hydrofoil plate, just as wing, when the angle of attack within the specific limits time, hydrofoil plate produces and rises Power, the component of its horizontal direction promotes underwater glider to travel forward, then pulls water surface hull to advance；When water surface hull is crossed Crest, under gravity, whole system will move downward, and at this moment hydrofoil plate is flipped up under the effect of water, with rising Process equally has lift and produces, and makes whole system travel forward.Therefore, wave glider ocean wave energy can be converted into Before, the thrust unrelated with direction of wave travel and its conversion regime is purely mechanic.It is to say, when wave passes through water surface floating During body, underwater glider tows surface floating body as a towboat in prebriefed pattern.

The implementing hydrodynamic analysis of glide vehicle is more complicated, causes being difficult to calculate lashing and acts on the power of buoyancy aid.Floated by wave glider Body load-bearing monitor device can record lashing and act on the power of buoyancy aid, and then is easy to buoyancy aid is carried out force analysis.

Summary of the invention

It is an object of the invention to provide a kind of wave glider buoyancy aid load-bearing monitor device and force calculation method, it is possible to measure in real time Wave glider lashing acts on power bottom buoyancy aid, and provides according to gathering data calculating stress size and Orientation.

The object of the present invention is achieved like this: wave glider buoyancy aid load-bearing monitor device include retainer ring, lower retainer ring and Three pressure transducers, upper retainer ring is by upper annulus and has the lower annulus of cone-shaped inner surface and forms, lower retainer ring by lower annulus and There is the upper annulus composition of conical outer surface, and the most symmetrical on the conical outer surface of the cone-shaped inner surface of upper retainer ring and lower retainer ring Being provided with three screws, each pressure transducer is arranged in a pair screw of correspondence by the double-threaded screw that two ends are arranged.

Present invention additionally comprises so some architectural features:

1. the end face of the upper annulus going up retainer ring is arranged on the bottom of the buoyancy aid part of wave glider, the lower annulus of lower retainer ring with One end of lashing connects, and the other end of lashing is connected with the underwater gliding body of wave glider.

2. the end face of the upper annulus going up retainer ring is arranged on underwater gliding body, and the lower annulus of lower retainer ring connects with one end of lashing Connecing, the other end of lashing is connected with the buoyancy aid of wave glider.

3. going up and be provided with data string holes position in retainer ring, the DOL Data Output Line of three pressure transducers is positioned at wave by data string holes The A/D acquisition module of the embedded board in glider connects.

4. a force calculation method for wave glider buoyancy aid load-bearing monitor device, the circle of the lower annulus of (1) following retainer ring The heart is that zero sets up coordinate system O-XYZ, and in three pressure transducers is positioned at XOZ plane, and this pressure sensing Device is at 45 ° with OX axle and OZ axle, and stress is F1；Other two pressure transducer space array is distributed, and i.e. three pressure pass Angle between sensor projection on XOY face is 120 °, and the stress of other two pressure transducer is F2 and F3 respectively；

(2) space-load of monitoring device is denoted as [Fx, Fy, Fz], and has:

$\[Fx,Fy,Fz\]=\[F1,F2,F3\]*\left[\begin{array}{ccc}\frac{\sqrt{2}}{2}& 0& \frac{\sqrt{2}}{2}\\ -\frac{\sqrt{6}}{4}& \frac{\sqrt{2}}{4}& \frac{\sqrt{2}}{2}\\ -\frac{\sqrt{6}}{4}& -\frac{\sqrt{2}}{4}& \frac{\sqrt{2}}{2}\end{array}\right]$

In formula: the data of three pressure transducers that F1, F2, F3 are collected by A/D acquisition module obtain.

Compared with prior art, the invention has the beneficial effects as follows: the present invention is one and is installed on wave glider buoyancy aid (or under water Glide vehicle) and the device for measuring force of lashing coupled position, pressure data is transferred to flush bonding processor, calculates buoyancy aid (or under water Glide vehicle) at three-dimensional stressing conditions, it is applied to wave glider upper float load-bearing monitor, advise for wave glider path Draw and control decision provides reference information.The present invention is characterized by specifically: (1) wave glider buoyancy aid load-bearing monitor fills Put installation site: the structure of wave glider is different from tradition above water craft and underwater hiding-machine, cause traditional boats and ships or latent device Research computational methods cannot be directly used to wave glider, and wave glider is divided into two large divisions by the present invention: buoyancy aid part, pushes away Enter device part (including lashing and underwater gliding body), the real-time stress of survey calculation buoyancy aid part of the present invention.This power acts on buoyancy aid Part can be analogous to the External Force Acting boat bottom at tradition boats and ships.The technology such as the most traditional ship's manoeuverability, motor control It is used equally to wave glider.(2) wave glider buoyancy aid load-bearing monitor device composition mechanism: the present invention by upper and lower retainer ring and Several pressure transducers form, and can be used not only for buoyancy aid part stress data collection, it may also be used for the lashing other end studies water The stressing conditions of lower glide vehicle.(3) force calculation method of wave glider buoyancy aid load-bearing monitor device: flush bonding processor leads to Cross A/D module and gather the data of the several pressure transducer of this device simultaneously, according to the spatial distribution of pressure transducer, application space The knowledge such as geometry and mechanics, is calculated buoyancy aid part at three-dimensional stress size and Orientation.

Accompanying drawing explanation

Fig. 1 is present invention structural representation when being arranged on bottom buoyancy aid；

Fig. 2 (a), Fig. 2 (b), Fig. 2 (c), Fig. 2 (d) are the front view of the present invention, side view, top view respectively, stand Body figure；

Fig. 3 is present invention location resolution figure spatially；

Fig. 4 is the structural representation of the upper retainer ring of the present invention；

Fig. 5 is the structural representation of the lower retainer ring of the present invention；

Fig. 6 is the foundation figure of the coordinate system of the present invention.

Detailed description of the invention

With detailed description of the invention, the present invention is described in further detail below in conjunction with the accompanying drawings.

The principle of the present invention is: first, is arranged in bottom buoyancy aid according to erection sequence by wave glider buoyancy aid load-bearing monitor device 1 Or on underwater gliding body；Then, sensing data output lead is connected to the A/D acquisition module of embedded board；Finally, Gather A/D data by self-editing application program, calculate buoyancy aid stress.

In conjunction with Fig. 1 to Fig. 5,2, three pressure transducers 3 of retainer ring, lower retainer ring 4 and double-threaded screw 5 in the present invention, on The installation screw 6 of lower retainer ring, lower retainer ring female thread 7, lower retainer ring female thread 7 is used for fixing lashing.Relation is specifically installed It is: one, six double-threaded screws 5 are screwed in the installing hole 6 of upper and lower retainer ring respectively；Two, with pressure transducer 3 as even Fitting, by rotating, is simultaneously connected with upper and lower retainer ring 2 and 4；Three, disposal data line, and by the upper pre-residual of retainer ring 2 According to string holes position；Four, it is fixed to bottom buoyancy aid by the screw hole position of upper retainer ring with screw；Five, it is connected to flush bonding processor A/D module；Six, lashing and the present invention are locked by screw thread (or other general fixed forms).

The force calculation method of the present invention is relevant with the spatial distribution of pressure transducer and establishment of coordinate system, specifically includes:

One, coordinate system is set up: one of them pressure transducer is positioned at XOZ plane, and at 45 ° with OX axle and OZ axle, is subject to Power is denoted as F1；Other two pressure transducer space array is distributed, and i.e. three pressure transducers become 120 ° on XOY face, are subject to Power is denoted as F2 and F3.

Two, computational methods: the space-load of this device is denoted as [Fx, Fy, Fz], according to space geometry reason relevant with force analysis Opinion, then have

$\[Fx,Fy,Fz\]=\[F1,F2,F3\]\left[\begin{array}{ccc}\frac{\sqrt{2}}{2}& 0& \frac{\sqrt{2}}{2}\\ -\frac{\sqrt{6}}{4}& \frac{\sqrt{2}}{4}& \frac{\sqrt{2}}{2}\\ -\frac{\sqrt{6}}{4}& -\frac{\sqrt{2}}{4}& \frac{\sqrt{2}}{2}\end{array}\right]$

Being similar to, the present invention can use multiple pressure transducer, carries out the arrangement of various ways at three dimensions, with identical Computational theory obtains space-load.This device can be installed to the link position of lashing and glide vehicle, to record the space of glide vehicle Stressing conditions.

It is arranged in as a example by upper float and lashing junction by the whole device of the present invention and carries out general description: upper retainer ring is used for connecting firmly Upper float and pressure transducer；Pressure transducer is used for measuring pressure (drawing) power, and three pressure transducers are according to certain geometrical rule It is fixed between retainer ring and lower retainer ring；Lower retainer ring is used for connecting firmly lashing and pressure transducer.Move at wave glider During, each pressure transducer under the effect of lashing, output pressure signal.This signal first passes through wave glider A/D mould Block process, after through control processor be calculated pressure data.Multiple pressure datas are logical under three dimensions O-XYZ coordinate system Cross force resolution to merge, calculate the component on each coordinate axes of XYZ.Present configuration is simple and reliable, calculates error little, consumption Electricity is low, can be that the motor control of wave glider provides important reference data.

Claims (5)

1. wave glider buoyancy aid load-bearing monitor device, it is characterised in that: include that retainer ring, lower retainer ring and three pressure pass Sensor, upper retainer ring is made up of upper annulus and the lower annulus with cone-shaped inner surface, and lower retainer ring is by lower annulus and has outside taper The upper annulus composition on surface, and all it is symmetrically arranged with three on the conical outer surface of the cone-shaped inner surface of upper retainer ring and lower retainer ring Screw, each pressure transducer is arranged in a pair screw of correspondence by the double-threaded screw that two ends are arranged.

Wave glider buoyancy aid load-bearing monitor device the most according to claim 1, it is characterised in that: the upper circle of upper retainer ring The end face of ring is arranged on the bottom of the buoyancy aid part of wave glider, and the lower annulus of lower retainer ring is connected with one end of lashing, lashing The other end be connected with the underwater gliding body of wave glider.

Wave glider buoyancy aid load-bearing monitor device the most according to claim 1, it is characterised in that: the upper circle of upper retainer ring The end face of ring is arranged on underwater gliding body, and the lower annulus of lower retainer ring is connected with one end of lashing, the other end of lashing and wave The buoyancy aid of glider connects.

4. according to the wave glider buoyancy aid load-bearing monitor device described in claim 1 or 2 or 3, it is characterised in that: upper fixing Being provided with data string holes position on ring, the DOL Data Output Line of three pressure transducers is positioned at the embedding of wave glider by data string holes The A/D acquisition module entering formula development board connects.

5. a force calculation method for the wave glider buoyancy aid load-bearing monitor device provided according to claim 4, its feature It is:

(1) center of circle of the lower annulus of following retainer ring is that zero sets up coordinate system O-XYZ, in three pressure transducers One is positioned at XOZ plane, and this pressure transducer is at 45 ° with OX axle and OZ axle, and stress is F1；Other two pressure passes Sensor space array is distributed, and the angle between the projection on XOY face of i.e. three pressure transducers is 120 °, and other two The stress of pressure transducer is F2 and F3 respectively；

(2) space-load of monitoring device is denoted as [Fx, Fy, Fz], and has:

$\[Fx,Fy,Fz\]=\[F1,F2,F3\]*\left[\begin{array}{ccc}\frac{\sqrt{2}}{2}& 0& \frac{\sqrt{2}}{2}\\ -\frac{\sqrt{6}}{4}& \frac{\sqrt{2}}{4}& \frac{\sqrt{2}}{2}\\ -\frac{\sqrt{6}}{4}& -\frac{\sqrt{2}}{4}& \frac{\sqrt{2}}{2}\end{array}\right]$

In formula: the data of three pressure transducers that F1, F2, F3 are collected by A/D acquisition module obtain.