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

Abstract

The invention provides a force monitoring device and a force calculation method for a floating body of a wave glider. The device includes an upper fixed ring, a lower fixed ring and three pressure sensors. The upper fixed ring consists of an upper ring and a lower ring with a tapered inner surface. The lower fixed ring is composed of a lower ring and an upper ring with a tapered outer surface, and three screw holes are symmetrically arranged on the tapered inner surface of the upper fixed ring and the tapered outer surface of the lower fixed ring, each Each pressure sensor is installed in the corresponding pair of screw holes through the stud screws provided at the two ends. The present invention can not only be used for force data collection of part of the floating body, but also can be used for the other end of the lanyard to study the force of the underwater gliding body, and the present invention has simple and reliable structure, small calculation error, low power consumption, and can be used for wave The motion control of the glider provides important reference data.

Description

Force monitoring device and force calculation method for floating body of wave glider

technical field

The invention relates to a force monitoring device, in particular to a force monitoring device and a force calculation method for a floating body of a wave glider.

Background technique

The ocean contains a large amount of green resources needed for human development. Human beings have been committed to exploring and developing marine resources. A variety of marine monitoring equipment emerged as the times require. Buoys, submersible buoys, ROVs, AUVs, seabed bases, underwater glider, etc. each have their own advantages and obvious disadvantages. As a new type of ocean autonomous observation platform, the Unmanned Wave Glider (UWG) has great advantages over other equipment. Its operating cost is low, the observation range is wide, the carrying capacity is strong, the data transmission is fast, the battery life is long, and it is suitable for harsh sea conditions. At present, UWG has been widely used in various marine scientific research activities such as biological investigation, weather forecast, and environmental monitoring. In recent years, UWG-related technologies have become research hotspots at home and abroad.

The wave glider is a new type of marine vehicle that uses wave energy as the navigation power and solar energy as the energy source for sensors, control systems, and communication systems. Point tracking, virtual anchoring and other functions. The main components of the wave glider include: water surface floating body, underwater gliding body and lanyard three parts. Among them, the floating body part is equipped with control system, energy system, sensor system, navigation system, etc.; the gliding body part is equipped with sensor system, steering gear, tail rudder, propeller, etc.; transfer information between them. When the waves lift the hull on the water surface, due to the connection of the lanyards, the underwater gliding body also rises. Under the action of the water flow, the hydrofoil deflects downward, just like the wing. When the angle of attack is within a certain range , the hydrofoil generates lift, and its horizontal force pushes the underwater glider to move forward, and then pulls the surface hull forward; when the surface hull passes the wave crest, under the action of gravity, the whole system will move downward, The hydrofoil flips upwards under the action of water, and the same as the ascent process, there will be a lift force to make the whole system move forward. Therefore, the wave glider can convert ocean wave energy into a forward thrust independent of the direction of wave propagation and the conversion method is purely mechanical. That is to say, when waves pass through the water surface floating body, the underwater glider drags the water surface floating body on a predetermined route like a tugboat.

The hydrodynamic analysis of the gliding body is relatively complicated, which makes it difficult to calculate the force acting on the floating body by the tether. The force of the lanyard acting on the floating body can be recorded through the force monitoring device of the floating body of the wave glider, thereby facilitating force analysis on the floating body.

Contents of the invention

The purpose of the present invention is to provide a wave glider floating body force monitoring device and a force calculation method, which can measure the force of the wave glider tether acting on the bottom of the floating body in real time, and provide calculation of the force magnitude and direction based on the collected data.

The object of the present invention is achieved like this: the force monitoring device of the floating body of the wave glider comprises an upper fixed ring, a lower fixed ring and three pressure sensors, and the upper fixed ring is composed of an upper ring and a lower ring with a tapered inner surface, The lower fixing ring is composed of a lower ring and an upper ring with a tapered outer surface, and three screw holes are symmetrically arranged on the tapered inner surface of the upper fixing ring and the tapered outer surface of the lower fixing ring, and each pressure sensor The stud screws provided through the two ends are installed in a corresponding pair of screw holes.

The present invention also includes such structural features:

1. The end face of the upper ring of the upper fixed ring is installed on the bottom of the floating body part of the wave glider, the lower ring of the lower fixed ring is connected with one end of the lanyard, and the other end of the lanyard is connected with the underwater glider of the wave glider connect.

2. The end face of the upper ring of the upper fixing ring is installed on the underwater glider, the lower ring of the lower fixing ring is connected with one end of the lanyard, and the other end of the lanyard is connected with the floating body of the wave glider.

3. The upper fixing ring is provided with data line holes, and the data output lines of the three pressure sensors are connected to the A/D acquisition module of the embedded development board located in the wave glider through the data line holes.

4. A force calculation method of a wave glider floating body force monitoring device, (1) the center of circle of the lower circular ring of the lower fixed ring is the coordinate origin to establish the coordinate system O-XYZ, and one of the three pressure sensors is located at the XOZ plane , and the pressure sensor is 45° to the OX axis and the OZ axis, and the force is F1; the other two pressure sensors are distributed in a spatial array, that is, the angle between the projections of the three pressure sensors on the XOY plane is 120°, and The forces of the other two pressure sensors are F2 and F3 respectively;

(2) The spatial force of the monitoring device is recorded as [Fx, Fy, Fz], and there are:

$<span\; class="notranslate">\; \&lsqb;</span>\mathrm{<span\; class="notranslate">\; f</span>}\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; f</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; f</span>}\mathrm{<span\; class="notranslate">\; z</span>}<span\; class="notranslate">\; \&rsqb;</span><span\; class="notranslate">\; =</span><span\; class="notranslate">\; \&lsqb;</span>\mathrm{<span\; class="notranslate">\; f</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; f</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; f</span>}\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; \&rsqb;</span><span\; class="notranslate">\; *</span>\left[\begin{array}{ccc}\frac{\sqrt{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}& \mathrm{<span\; class="notranslate">\; 0</span>}& \frac{\sqrt{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ <span\; class="notranslate">\; -</span>\frac{\sqrt{\mathrm{<span\; class="notranslate">\; 6</span>}}}{\mathrm{<span\; class="notranslate">\; 4</span>}}& \frac{\sqrt{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; 4</span>}}& \frac{\sqrt{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ <span\; class="notranslate">\; -</span>\frac{\sqrt{\mathrm{<span\; class="notranslate">\; 6</span>}}}{\mathrm{<span\; class="notranslate">\; 4</span>}}& <span\; class="notranslate">\; -</span>\frac{\sqrt{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; 4</span>}}& \frac{\sqrt{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}\end{array}\right]$

In the formula: F1, F2, F3 are obtained from the data of the three pressure sensors collected by the A/D acquisition module.

Compared with the prior art, the beneficial effects of the present invention are: the present invention is a force-measuring device installed on the floating body (or underwater gliding body) of the wave glider and the connection position of the lanyard, and transmits the pressure data to the embedded processor , to calculate the force of the floating body (or underwater gliding body) in three-dimensional space, which is applied to the force monitoring of the floating body on the wave glider, and provides reference information for the path planning and control decision of the wave glider. Specifically, the present invention's gist is: (1) installation position of the wave glider floating body force monitoring device: the structure of the wave glider is different from traditional surface ships and underwater submersibles, resulting in the research and calculation of traditional ships or submersibles. The method cannot be directly applied to the wave glider. The present invention divides the wave glider into two parts: a floating body part and a thruster part (including lanyards and underwater gliding bodies). The present invention measures and calculates the real-time force of the floating body part. This force acting on the floating body part can be similar to an external force acting on the bottom of a traditional ship. Such traditional ship maneuverability, motion control and other technologies can be used for wave glider. (2) Mechanism of the force monitoring device for the floating body of the wave glider: the present invention consists of upper and lower fixing rings and several pressure sensors, which can not only be used for force data collection of the part of the floating body, but also be used for the other end of the tether to study underwater gliding body stress. (3) The force calculation method of the floating body force monitoring device of the wave glider: the embedded processor collects the data of several pressure sensors of the device through the A/D module at the same time, and applies spatial geometry and mechanics according to the spatial distribution of the pressure sensors and other knowledge, calculate the force magnitude and direction of the floating body part in three-dimensional space.

Description of drawings

Fig. 1 is the structural representation when the present invention is installed on the bottom of the floating body;

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

Fig. 3 is an exploded view of the position of the present invention in space;

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

Fig. 5 is a schematic structural view of the lower fixing ring of the present invention;

Fig. 6 is a diagram of establishing the coordinate system of the present invention.

detailed description

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

The principle of the present invention is: firstly, arrange the force monitoring device 1 of the floating body of the wave glider on the bottom of the floating body or on the underwater gliding body according to the installation sequence; then, connect the sensor data output line to the A/D acquisition of the embedded development board module; finally, collect A/D data through a self-programmed application program to calculate the force on the floating body.

1 to 5, the upper fixing ring 2, the three pressure sensors 3, the lower fixing ring 4 and the double-headed screw 5, the mounting screw holes 6 of the upper and lower fixing rings, the inner thread 7 of the lower fixing ring, and the inner thread of the lower fixing ring Thread 7 is used for fixing lanyard. The specific installation relationship is: 1. screw the six double-headed screws 5 into the mounting holes 6 of the upper and lower fixing rings respectively; Arrange the data lines, and reserve the data line holes through the upper fixing ring 2; 4. Use screws to fix to the bottom of the floating body through the screw holes of the upper fixing ring; 5. Connect to the A/D module of the embedded processor; 6. The lanyard and the present invention are locked by thread (or other common fixing means).

The force calculation method of the present invention is related to the spatial distribution of pressure sensors and the establishment of a coordinate system, specifically including:

1. Establish a coordinate system: one of the pressure sensors is located on the XOZ plane, and is 45° to the OX axis and the OZ axis, and the force is recorded as F1; the other two pressure sensors are distributed in a spatial array, that is, the three pressure sensors are formed on the XOY 120°, the force is recorded as F2 and F3.

2. Calculation method: The space force of the device is recorded as [Fx, Fy, Fz]. According to the theory of space geometry and force analysis, there is

$<span\; class="notranslate">\; \&lsqb;</span>\mathrm{<span\; class="notranslate">\; f</span>}\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; f</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; f</span>}\mathrm{<span\; class="notranslate">\; z</span>}<span\; class="notranslate">\; \&rsqb;</span><span\; class="notranslate">\; =</span><span\; class="notranslate">\; \&lsqb;</span>\mathrm{<span\; class="notranslate">\; f</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; f</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; f</span>}\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; \&rsqb;</span>\left[\begin{array}{ccc}\frac{\sqrt{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}& \mathrm{<span\; class="notranslate">\; 0</span>}& \frac{\sqrt{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ <span\; class="notranslate">\; -</span>\frac{\sqrt{\mathrm{<span\; class="notranslate">\; 6</span>}}}{\mathrm{<span\; class="notranslate">\; 4</span>}}& \frac{\sqrt{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; 4</span>}}& \frac{\sqrt{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ <span\; class="notranslate">\; -</span>\frac{\sqrt{\mathrm{<span\; class="notranslate">\; 6</span>}}}{\mathrm{<span\; class="notranslate">\; 4</span>}}& <span\; class="notranslate">\; -</span>\frac{\sqrt{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; 4</span>}}& \frac{\sqrt{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}\end{array}\right]$

Similarly, the present invention can use a plurality of pressure sensors, arrange them in various forms in three-dimensional space, and use the same calculation theory to obtain the force in space. The device can be installed at the connecting position of the lanyard and the gliding body, so as to measure the space force of the gliding body.

Take the entire device of the present invention arranged at the junction of the upper floating body and the lanyard as an example for general description: the upper fixing ring is used for solidly connecting the upper floating body and the pressure sensor; the pressure sensor is used to measure the pressure (pull) force, and the three pressure sensors A certain geometric rule is fixed between the upper fixing ring and the lower fixing ring; the lower fixing ring is used for fixing the connecting cable and the pressure sensor. During the movement of the wave glider, each pressure sensor outputs a pressure signal under the action of the lanyard. The signal is first processed by the A/D module of the wave glider, and then the pressure data is obtained through the calculation of the control processor. Multiple pressure data are combined by force decomposition in the three-dimensional space O-XYZ coordinate system, and the component forces on each XYZ coordinate axis are calculated. The invention has simple and reliable structure, small calculation error and low power consumption, and can provide important reference data for motion control of the wave glider.

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:

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

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