CN107618641A - Underwater glider is without slippage with stream motion control method - Google Patents
Underwater glider is without slippage with stream motion control method Download PDFInfo
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- CN107618641A CN107618641A CN201710666276.7A CN201710666276A CN107618641A CN 107618641 A CN107618641 A CN 107618641A CN 201710666276 A CN201710666276 A CN 201710666276A CN 107618641 A CN107618641 A CN 107618641A
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- aerodone
- wing
- underwater glider
- stream
- ocean current
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Abstract
The invention belongs to underwater glider without slippage control field, it is proposed that improve aerodone after ocean current is met with, possess without the method slipped with stream locomitivity.This method is installed by aerodone gravity's center control, pose regulation and wing plate, fuselage and wing is all obtained the fluoran stream surface product of maximum, so as to which that improves aerodone streams resistance, is realized without slipping with stream exercise performance.When following vertical Current Movement, the horizontal hovering of aerodone center-of-gravity regulating；When following horizontal Current Movement, aerodone center-of-gravity regulating vertically hovers, and ensures the maximum fluoran stream surface product of fuselage.Also, at the shell at the centre of buoyancy of aerodone, wing plate is installed perpendicular to wing direction, for adjusting the pose of aerodone, maximizes wing fluoran stream surface product.This method realizes underwater glider without function is slipped, and the in-situ observation that the oceanographic phenomenas such as ocean current, interior ripple are observed for aerodone Lagrangian method is laid a good foundation.
Description
Technical field
Underwater glider is without slippage with stream motion control field.
Background technology
Underwater glider is a kind of underwater autonomous navigation device, and it relies on buoyancy-driven, adjusted by pose, realizes saw
Navigate by water dentation track.Underwater glider has the ability of accurate control buoyancy, can realize the neutral body hovering of target water layer, together
When effective control to its pose can be realized with center-of-gravity regulating position, have it is low in energy consumption, voyage is long, longevity of service, disguise
The advantages that high.
, it is necessary to which neutrality hovers over target when underwater glider observes the oceanographic phenomenas such as ocean current, interior ripple using Lagrangian method
Water layer and Current Movement is followed to obtain its velocity characteristic.In order to reduce underwater glider with the sight caused by stream motion delay
Survey error, realize the in-situ observation to oceanographic phenomena, obtain motion required when calculating Current Movement and hydrographic data, it is necessary to
Underwater glider follows Current Movement without slippage.
Up to the present, domestic underwater glider research concentrates on the influence that horizontal ocean current navigates by water to underwater glider, and
Property hovering wherein is without slippage with stream motion control field or blank.Control method proposed by the present invention has filled up domestic sky
In vain, improve underwater glider follow ocean current without slip locomitivity.
The content of the invention
The present invention is underwater glider without slipping with stream motion control method.It is main to include two aspects：
Underwater glider controls with stream motion without slippage：The center of gravity of underwater glider is controlled, its posture is adjusted, makes it all the time
Perpendicular to ocean current, accumulated with obtaining maximum fluoran stream surface.
Underwater gliding wing plate adjustment control：In the case where following the precondition of horizontal ocean current, outside the centre of buoyancy of underwater glider
One block of wing plate of installation at shell, and and wing vertical, by rolling moment caused by wing plate so that the horizontal wings of underwater glider
Certain angle is kept with ocean current, maximizes the fluoran stream surface product of wing.
Brief description of the drawings
The present invention is further described with example below in conjunction with the accompanying drawings.
Fig. 1 is underwater glider posture under vertical ocean current.
Fig. 2 is underwater glider posture under horizontal ocean current.
Fig. 3 is wing plate schematic view of the mounting position.
Fig. 4 is wing plate force analysis figure.
1 in figure, underwater glider centre of buoyancy, 2, center of gravity of underwater glider, 3, wing plate, 4, resistance, 5 suffered by wing plate, parallel to
The component of wing plate, 6, perpendicular to the component of wing plate.
Embodiment
Object moves in ocean current with stream, and its suffered resistance is based on pressure drag.According to object in water around flow resistance
Power formula is understood：
C in formulaDFor force coefficients with the shape of object and inclination angle depending on, even for the object of same shape, CDAnd
The function of reynolds number Re, change with Reynolds number, ρ is the density of fluid, and S represents object in the horizontal stroke perpendicular to fluid direction of motion
Sectional area, VrMovement velocity for object relative to fluid.
Underwater glider is hovered in specified water layer, its force coefficients, density of sea water and speed difference, by marine environment
Have a great influence, it is difficult to control.Therefore ensure that the fluoran stream surface of underwater glider is accumulated (perpendicular to the cross section of fluid direction of motion
Product) it is its key without slippage with stream motion.The present invention by increase underwater glider fluoran stream surface product come improve its without slip with
Flow locomitivity.
As shown in figure 1, under operational configuration, the 1 of underwater glider and 2 and misaligned, in order to ensure it in vertical ocean current
Without slip with stream locomitivity, regulation 2 so that 2 and 1 line perpendicular to underwater glider axial direction.So in gravity and float
In the presence of power, keep level hovering, even if meeting with ocean current occurs roll deflection, it can also recover flat in the presence of gravitational moment
Weighing apparatus.Underwater glider horizontal stable hovers, and can obtain the fluoran stream surface product of maximum.
When underwater glider is hovered in horizontal ocean current, due to the direction of horizontal ocean current can not be predicted, and in hovering
Its uncontrollable course, therefore underwater glider can not ensure preferably under horizontality without slippage performance.Therefore control water
Lower aerodone 2 is adjusted to away from 1, as shown in Fig. 2 so under gravity, underwater glider deflects, is hovered vertically
In specified water layer.No matter how the direction of horizontal ocean current changes, and the axial direction of underwater glider can be obtained perpendicular to horizontal ocean current
Obtain maximum fuselage fluoran stream surface product.Meanwhile as shown in figure 3,3 are installed at 1 shell of aerodone under water, direction is perpendicular to machine
The wing, when the angle of ocean current and wing is smaller, i.e. the fluoran stream surface product of wing is smaller, and 3 is larger with the angle of ocean current, can be in ocean current
Resistance 4 is streamed in the lower generation of effect, and its component 5 and 6 can produce pitching moment and rolling moment.In order to avoid pitching moment changes water
The angle of pitch of lower aerodone, reduce the fluoran stream surface product of aerodone.Therefore 3 are arranged at 1, remove the arm of force so that 3 will not produce
Pitching moment.Meanwhile in the presence of rolling moment, underwater glider does roll motion, increases the angle of ocean current and wing, increases
Daying flow area, and then it is improved without slippage with stream locomitivity.
Claims (2)
1. aerodone controls with stream motion without slippage.Characterized in that, underwater glider when following vertical Current Movement, needs to control
Its center of gravity and centre of buoyancy are made, makes the horizontal hovering of underwater glider and perpendicular to vertical current, the fluoran stream surface for maximizing fuselage and wing accumulates；
When following the level stream to move, its center of gravity and centre of buoyancy need to be controlled, underwater glider is hovered and perpendicular to level stream, is maximized vertically
The fluoran stream surface product of fuselage.
2. wing plate adjustment control.Characterized in that, underwater glider when following level stream to move, is installed at its centre of buoyancy shell
One block of wing plate perpendicular to wing, when ocean current and larger wing angle, wing plate produces deflection torque in the presence of ocean current, adjusts
The angle of the complete machine wing and ocean current, maximize the fluoran stream surface product of wing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710666276.7A CN107618641A (en) | 2017-08-07 | 2017-08-07 | Underwater glider is without slippage with stream motion control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710666276.7A CN107618641A (en) | 2017-08-07 | 2017-08-07 | Underwater glider is without slippage with stream motion control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107618641A true CN107618641A (en) | 2018-01-23 |
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ID=61088983
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710666276.7A Pending CN107618641A (en) | 2017-08-07 | 2017-08-07 | Underwater glider is without slippage with stream motion control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107618641A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109772785A (en) * | 2018-12-10 | 2019-05-21 | 中国船舶重工集团公司第七一九研究所 | A kind of energy-efficient aquatic organism cleaning system |
| CN113879495A (en) * | 2021-10-26 | 2022-01-04 | 西北工业大学 | Underwater glider dynamic motion planning method based on ocean current prediction |
-
2017
- 2017-08-07 CN CN201710666276.7A patent/CN107618641A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109772785A (en) * | 2018-12-10 | 2019-05-21 | 中国船舶重工集团公司第七一九研究所 | A kind of energy-efficient aquatic organism cleaning system |
| CN113879495A (en) * | 2021-10-26 | 2022-01-04 | 西北工业大学 | Underwater glider dynamic motion planning method based on ocean current prediction |
| CN113879495B (en) * | 2021-10-26 | 2024-04-19 | 西北工业大学 | Dynamic motion planning method for underwater glider based on ocean current prediction |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180123 |
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| RJ01 | Rejection of invention patent application after publication |