CN108520089A - A kind of wave glider motion forecast method of flexible connection - Google Patents
A kind of wave glider motion forecast method of flexible connection Download PDFInfo
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Abstract
The wave glider motion forecast method of flexible connection, is as follows：(1) it obtains rudder angle information (2) and calculates the soft chain pulling force that active force (3) the calculating submerged body that submerged body is subject to is subject to；(4) judge direction of the submerged body by vertical soft chain pulling force, if straight up, then returning to (2), if straight down or be zero, then store current time status information and be used as (5) original state, into (5)；(6) floating body is calculated at a distance from submerged body, if distance is less than soft chain length, is returned (5)；If distance is more than soft chain length, stores current time status information and be used as (1) original state, return (1)；If distance is equal to soft chain length, enter (7)；(7) judge floating body and submerged body relative motion trend, if it is close to each other or in the two line direction it is opposing stationary, then return (5)；If being located remotely from each other, then current time status information is stored as 1) original state, is returned (1).
Description
Technical field
The invention belongs to the Dynamic Modeling fields of ocean navigation device wave glider, and in particular to a kind of flexible connection
Wave glider motion forecast method.
Technical background
Currently, marine monitoring technology is faced with the sight of large scale, long sequential feature and severe operating environment and costliness
The various stern challenges such as cost are surveyed, in order to solve these problems, it would be desirable to be dedicated to developing a set of no longer being limited by the energy
And long-term a wide range of operation can be carried out, and Maintenance free, the lower autonomous operation platform of cost consumption.Currently, in the world
The Wave power aerodone of appearance, which just provides for ocean observation technology, opens one's minds.The platform dexterously utilizes marine environment energy
Source realizes the observation operation of big voyage for a long time, and is exchanged by carrying out instruction and data between satellite and monitoring base station, and
And totality manufacturing cost is relatively low, there is vast potential for future development.Currently, the technology has become the base of oceanographic observation network structure
The monitoring instrument of plinth platform first choice.Under the overall background of international ocean environmental monitoring technology development, the monitoring technology in China is urgently
It improves, for this purpose, we take introduction, digestion, absorption and the research and development route innovated again, carries out the wave with independent intellectual property right
The domestic novel sea Study on Monitoring Technology of power glider observation platform.
Wave glider is novel marine observation platform, it by absorbing the wave energy in ocean, be translated into from
The power of body navigation is converted solar energy into electrical energy and is powered for equipment of itself by solar panels.It has cruising ability strong,
Operation cost is cheap, adaptable under severe sea condition, running noises are small, many merits such as pollution-free, is all kinds of marine informations
Observation provides new way with research, has been widely used in the detection of long-time marine environment, biology migrates research, weather information
The fields such as forecast.Wave power aerodone is the current a novel full utilization environmental energy occurred in the world, Ke Yi
Long-term path trace is carried out on wide ocean and position is kept, and the environment of sensor measurement will be carried by satellite communication
Real-time data transmission gives monitoring base station, base station to visualize display platform state and measurement data, and can be based on map vector and complete
The path planning etc. of platform.Currently, the U.S. there has been the platform research of comparative maturity, and demonstrated by extensive sea examination
The reliability and application value of the platform.The SV series Wave power aerodone packets of Liquid Robotics companies of U.S. production
Two kinds of SV2 and SV3 are included however, the special hard and soft multiple hull construction of wave glider makes dynamic analysis is related to motion control to grind
Study carefully more difficult.Currently, National Ocean Technology Center has been developed that a set of Wave power aerodone system, and is had a try and tested by sea
Demonstrate the feasibility of the plateform system；National Ocean Technology Center has also developed a set of Wave power aerodone Wave power mould
Quasi- test device simulates motion state of the platform under ocean wave effect in laboratory water tank, and the fluctuation of test platform pushes away
Into efficiency.710 research institute of China Shipbuilding Industry Corporation, Shenyang Inst of Automation, Chinese Academy of Sciences, Harbin Engineering University, in
The 36th research institute of electric science and technology group, Shanghai Communications University are to the research of Wave power aerodone all in the examination of principle prototype
Stage processed.Up to now, the domestic research for Wave power aerodone is still at an early stage, and the structure about the platform is set
Meter or the relevant biliographic data of dynamic analysis are less.The Dynamic Modeling of most of documents wave glider is asked
Topic, however it is to establish wave glider kinetic model under rigidity is assumed that all documents, which are soft chain, does not consider that soft chain is soft
Property influence to wave glider kinetic characteristics, have essence different from the present invention, the present invention is with marked improvement.
Invention content
It is an object of the invention on the basis of the soft chain of wave glider is the kinetic model under rigidity is assumed into one
Step extension, considers influence of the soft chain flexibility for wave glider kinetic characteristics, further portrays the power of wave glider
Characteristic is learned, the motion state of wave glider can be predicted under the premise of real currently known rudder angle information.
A kind of wave glider motion forecast method of flexible connection, specifically comprises the following steps：
(1) rudder angle information known to is that rigidity assumes lower wave glider integrated dynamic model output wave based on soft chain
The response of unrestrained glider motion state, the wave glider motion state response include the position of floating body and submerged body, speed, acceleration
Degree, the posture of soft chain；
(2) hydrodynamic force, rudder power, the thrust etc. being subject to according to submarine's moving state computation submerged body, according to Newton's second law
The resultant force that submerged body is subject to is calculated, according to submerged body quality volume feature calculation submerged body gravity and buoyancy；
(3) the soft chain pulling force longitudinally, laterally, vertical that submerged body is subject to is calculated；
(4) judge direction of the submerged body by vertical soft chain pulling force, if straight up, then return to step (2), if vertical
Downwards or it is zero, then stores current time status information as step (5) original state, enter step (5)；
(5) it is 0 to enable soft chain pulling force, based on floating body independent power model and submerged body independent power model export floating body and
The respective motion state response of submerged body.The floating motion condition responsive includes the position of floating body, speed, acceleration, described latent
The response of body motion state includes the position of submerged body, speed, acceleration.The floating body independent power model and submerged body independent power
Model is learned, each motion state initial value takes the status information stored when (4) the end of the step；
(6) floating body is calculated at a distance from submerged body, if distance is less than soft chain length, return to step (5)；If distance is more than soft
Chain length then stores current time status information as step (1) original state, return to step (1)；If distance is equal to soft chain length
Degree, then enter step (7)；
(7) judge floating body and submerged body relative motion trend, if it is close to each other or in the two line direction it is opposing stationary, then
Return to step (5)；If being located remotely from each other, then current time status information is stored as step (1) original state, return to step
(1)。
In the step (1) is that rigidity assumes that lower wave glider integrated dynamic model specifically wraps based on soft chain
It includes：Described is that rigidity assumes that lower wave glider integrated dynamic model passes through direct or indirect mode packet based on soft chain
The movement-states such as acceleration, the speed of longitudinal movement, transverse movement, catenary motion containing submerged body.
The step (3) specifically includes：Submerged body is equal to resultant force by soft chain pulling force and subtracts gravity, buoyancy, hydrodynamic force, rudder
Power, thrust, according to step (2) obtain as a result, calculating the soft chain pulling force longitudinally, laterally, vertical that is subject to of submerged body.
4, the wave glider motion forecast method of a kind of flexible connection according to claim 1, which is characterized in that
The step (4) specifically includes：The current time status information stored in step (4) can be used as floating body in (5) step
With the primary condition of submerged body independent power model.
The step (5) specifically includes：The floating body independent power model and submerged body independent power model, packet
It includes but is not limited to floating body independent power model and establish kinetic model with reference to above water craft kinetic model, including but not limited to
Submerged body independent power model is with reference to underwater ocean aircraft power model foundation kinetic model.
Step (6) step is specifically included with step (7)：The step (6) and the status information energy in step (7)
Enough as the primary condition that soft chain in step (1) is wave glider integrated dynamic model under rigidity is assumed.
Compared with prior art, the beneficial effects of the invention are as follows：
1. it is the flexible influence for wave glider kinetic characteristics to consider soft chain, wave glider according to soft chain more
It is tensioned or loosens and be divided into two states and handle respectively, and the two is organically combined so that Wave glider power of the present invention
Model more scientific and precise is learned, it being capable of more true predictive wave glider motor imagination；
2. the present invention also provides the soft chain tension computational methods of wave glider, Structural Strength Design reference is can be used as, and
Floating body can be introduced into turn more really to portray wave glider kinetic characteristics in the calculating that bow moves.
3. soft chain is that rigidity assumes that lower wave glider integrated dynamic model and floating body are independent with submerged body in the present invention
Its method for building up of kinetic model is not unique, has stronger flexibility.
Description of the drawings
Fig. 1 is the wave glider motion forecast method flow chart of flexible connection；
Fig. 2 is that soft chain is wave glider dynamics Integrated Model coordinate system schematic diagram when rigidity is assumed；
Fig. 3 is floating body and submerged body coordinate system schematic diagram when considering soft chain flexibility.
Specific implementation mode
The present invention specific implementation mode be：
The wave glider motion forecast method of flexible connection provided by the invention, specific steps include：
(1) rudder angle information known to is that rigidity assumes lower wave glider integrated dynamic model output wave based on soft chain
The response of unrestrained glider motion state, the wave glider motion state response include the position of floating body and submerged body, speed, acceleration
Degree, the posture of soft chain；
The soft chain is that rigidity assumes lower wave glider integrated dynamic model, it is not limited to use which kind of method
Establish, but must include by direct or indirect mode the longitudinal movement of submerged body, transverse movement, catenary motion acceleration,
The movement-states such as speed.The direct mode be used model in include submerged body longitudinally, laterally, the freedom of catenary motion
Degree；Although the indirect mode be model in do not include submerged body longitudinally, laterally, the which part of catenary motion or all freely
Degree, but the degree of freedom combination rigid motion by including in model is gained knowledge, wave glider structure characterized by entanglement etc. can between
Connect acquire floating body catenary motion containing floating body and submerged body longitudinally, laterally, the degree of freedom of catenary motion.Such as wave glider can be used
Six degree of freedom maneuverability model is that rigidity assumes lower wave glider integrated dynamic model as soft chain.
(2) hydrodynamic force, rudder power, the thrust etc. being subject to according to submarine's moving state computation submerged body, according to Newton's second law
The resultant force that submerged body is subject to is calculated, according to submerged body quality volume feature calculation submerged body gravity and buoyancy；
For convenience of statement, under submerged body coordinate system, submerged body coordinate origin is located at soft subsequent descriptions submarine's moving state
Center of gravity and the hydrodynamic force center of gravity of chain and submerged body tie point namely submerged body, xGIt is directed toward submerged body fore body direction, yGIt is directed toward submerged body starboard,
zGStraight down, in xG、yG、zGThe unit vector of axis direction is respectively
If wave glider motion forecast method (1) step by the flexible connection is by directly or indirectly being dived
Body longitudinally, laterally, the speed of catenary motion be respectively uG, vG, wG, submerged body longitudinally, laterally, the acceleration of catenary motion
Obtained according to Newton's second law be with joint efforts suffered by submerged body
Submerged body is by the resultant force of gravity and floating bodyWhereinFor submerged body weight in wet base.
The suffered hydrodynamic force not comprising rudder power of submerged body can be generally written as
Those skilled in the art can be that rigidity assumes lower wave glider kinetic model according to accuracy requirement and used soft chain
The information being capable of providing selects suitable calculation formula, such as a kind of simple situation, it is contemplated that wave glider real navigation
When the speed of a ship or plane it is relatively low, do not consider second order and the above hydrodynamic force, do not consider to couple between each degree of freedom.
Wherein, λ11, λ22, λ33Respectively submerged body is in additional mass longitudinally, laterally, vertical.C11, C22, C33It is respectively latent
Body is in resistance coefficient longitudinally, laterally, vertical.
If rudder angle is δ, it is contemplated that speed of coming about is more slow, does not consider influence of the rudder deflecting rate to rudder power, rudder power can
It is expressed asWherein CD(δ) is the resistance coefficient of rudder, is the function of rudder angle δ, CL
(δ) is the resistance coefficient of rudder, is the function of rudder angle δ.ρ is Media density, VGFor speed of incoming flow, S is the area of rudder.
The thrust generated when submerged body heave movementThose skilled in the art can carry out according to pertinent literature according to different sea situations
Estimation is estimated according to different wave states.
(3) the soft chain pulling force longitudinally, laterally, vertical that submerged body is subject to is calculated；
According to what second step obtained gravity, buoyancy, water are subtracted as a result, submerged body is calculated and is equal to resultant force by soft chain pulling force
Power, rudder power, thrust.I.e.
Wherein, Lx, Ly, LzComponent of the soft chain pulling force in submerged body coordinate system longitudinally, laterally, vertical is received for submerged body, including just
It is negative, it is positive consistent with respective coordinates system if component direction just, is then corresponded to, if bearing, then correspond to component direction and respective coordinates
System is positive opposite.
(4) judge direction of the submerged body by vertical soft chain pulling force, if straight up, then return to step (2), if vertical
Downwards or it is zero, then stores current time status information as step (5) original state, enter step (5)；
Judge direction of the submerged body by vertical soft chain pulling force, if straight up, i.e. Lz＜ 0, then soft chain is not opened yet at this time
Tight state considers that soft chain flexible characteristic is considered as rigidity in terms of wave glider dynamic analysis without difference with soft chain, then returns
Step (2) is returned, is that rigidity assumes lower wave glider integrated dynamic model into soft chain；If straight down, Lz＞ 0,
Soft chain provides pressure, if soft chain is considered as rigidity, soft chain offer pressure is reasonable, if considering soft chain flexible characteristic, soft chain provides
Pressure is unreasonable, therefore considers that soft chain flexible characteristic is considered as rigidity with soft chain and has in terms of wave glider dynamic analysis significantly
Difference, soft chain are that rigidity assumes that lower wave glider integrated dynamic model has not been suitable for wave glider power credit
Analysis, storage current time status information enter step (5) as step (5) original state；If zero, i.e. Lz=0, then at this time
Soft chain does not provide vertical force, it is contemplated that submerged body is always below floating body in the navigation of wave glider, and there is no soft chains only
The case where horizontal direction power is without providing vertical force is provided to submerged body, storage current time status information is initial as step (5)
State enters step (5).
(5) it is 0 to enable soft chain pulling force, based on floating body independent power model and submerged body independent power model export floating body and
The respective motion state response of submerged body.The floating motion condition responsive includes the position of floating body, speed, acceleration, described latent
The response of body motion state includes the position of submerged body, speed, acceleration.The floating body independent power model and submerged body independent power
Model is learned, each motion state initial value takes the status information stored when (4) the end of the step.
The floating body independent power model and submerged body independent power model, including but not limited to floating body independent power
Model establishes kinetic model with reference to above water craft kinetic model, and including but not limited to submerged body independent power model is with reference to water
Lower ocean aircraft power model foundation kinetic model.The floating body independent power model and submerged body independent power mould
Type, each motion state initial value take the status information stored when (4) the end of the step.
(6) floating body is calculated at a distance from submerged body, if distance is less than soft chain length, return to step (5)；If distance is more than soft
Chain length then stores current time status information as step (1) original state, return to step (1)；If distance is equal to soft chain length
Degree, then enter step (7).
The distance between floating body and submerged body
Wherein, xF, yF, zFUnder earth coordinates it is position for floating body, is moved by the wave glider of the flexible connection
Floating body independent power model is calculated in prediction technique (5) step, xG, yG, zGUnder earth coordinates it is position for submerged body
It sets, is calculated by submerged body independent power model in wave glider motion forecast method (5) step of the flexible connection.
If soft chain lengthIfThen soft chain should be converted to tensioning state at this time, store current time status information
As step (1) original state, return to step (1).IfThen soft chain is non-tensioning state, return to step (5).IfIt then needs further to judge both floating body and submerged body relative motion trend.
(7) judge floating body and submerged body relative motion trend, if it is close to each other or in the two line direction it is opposing stationary, then
Return to step (5)；If being located remotely from each other, then current time status information is stored as step (1) original state, return to step
(1)。
The judgement floating body and submerged body relative motion trend, further instruction are as follows：
The distance between floating body and submerged body l obtain time derivation
IfThen floating body is located remotely from each other with submerged body in soft chain direction, and storage current time status information is as step
(1) original state, return to step (1)；
IfThen floating body and submerged body are close to each other in soft chain direction, return to step (5)；
IfThen floating body and submerged body are opposing stationary in soft chain direction, return to step (5)；
In the wave glider motion forecast method of the flexible connection, soft chain is that rigidity assumes lower wave glider one
Body kinetic model, it is not unique with floating body and its method for building up of submerged body independent power model, but the following conditions need to be met：
(1) the wave glider motion forecast method of the flexible connection, soft chain is that rigidity assumes lower wave in (1) step
Glider integrated dynamic model must include the longitudinal movement of submerged body by direct or indirect mode, transverse movement, hang down
The movement-states such as acceleration, speed to movement.
(2) the wave glider motion forecast method of the flexible connection described in, in (4) step, the status information can
Primary condition as floating body in (5) step and submerged body independent power model.
(3) the wave glider motion forecast method of the flexible connection described in, in (6) step in (7), the state
Information can be the primary condition that rigidity assumes lower wave glider integrated dynamic model as soft chain in (1) step.
It illustrates below in conjunction with the accompanying drawings and the present invention is described in more detail：
In conjunction with Fig. 1, the wave glider motion forecast method of flexible connection provided by the invention, step includes：
(1) rudder angle information known to is that rigidity assumes lower wave glider integrated dynamic model output wave based on soft chain
The response of unrestrained glider motion state, the wave glider motion state response include the position of floating body and submerged body, speed, acceleration
Degree, the posture of soft chain；
In conjunction with Fig. 2, such as the soft chain is that rigidity assumes that lower wave glider integrated dynamic model can be used 2015
The wave glider six degree of freedom maneuverability mould established in the Master's thesis " research of wave glider general technical " of Nian Luxu
Type, but be not limited to use the model.The present invention only lists the form of expression of the model, and specific meaning can refer in the document
Description.Those skilled in the art can be based on establishing wave gliding described in the document under the premise of not paying innovative labor
Device integrated dynamic model, and number is realized based on the technical method commonly used in the art such as MATLAB environment or Visual C++ environment
Value emulation.
(2) hydrodynamic force, rudder power, the thrust etc. being subject to according to submarine's moving state computation submerged body, according to Newton's second law
The resultant force that submerged body is subject to is calculated, according to submerged body quality volume feature calculation submerged body gravity and buoyancy；
For convenience of statement, under submerged body coordinate system, submerged body coordinate origin is located at soft subsequent descriptions submarine's moving state
Center of gravity and the hydrodynamic force center of gravity of chain and submerged body tie point namely submerged body, xGIt is directed toward submerged body fore body direction, yGIt is directed toward submerged body starboard,
zGStraight down, in xG、yG、zGThe unit vector of axis direction is respectively
If wave glider motion forecast method (1) step by the flexible connection is by directly or indirectly being dived
Body longitudinally, laterally, the speed of catenary motion be respectively uG, vG, wG, submerged body longitudinally, laterally, the acceleration of catenary motion
Obtained according to Newton's second law be with joint efforts suffered by submerged body
Submerged body is by the resultant force of gravity and floating bodyWhereinFor submerged body weight in wet base.
The suffered hydrodynamic force not comprising rudder power of submerged body can be generally written as
Those skilled in the art can be that rigidity assumes lower wave glider kinetic model according to accuracy requirement and used soft chain
The information being capable of providing selects suitable calculation formula, such as a kind of simple situation, it is contemplated that wave glider real navigation
When the speed of a ship or plane is relatively low does not consider second order and the above hydrodynamic force, do not consider to couple between each degree of freedom.
Wherein, λ11, λ22, λ33Respectively submerged body is in additional mass longitudinally, laterally, vertical.C11, C22, C33It is respectively latent
Body is in resistance coefficient longitudinally, laterally, vertical.
If rudder angle is δ, it is contemplated that speed of coming about is more slow, does not consider influence of the rudder deflecting rate to rudder power, rudder power can
It is expressed asWherein CD(δ) is the resistance coefficient of rudder, is the function of rudder angle δ, CL
(δ) is the resistance coefficient of rudder, is the function of rudder angle δ.ρ is Media density, VGFor speed of incoming flow, S is the area of rudder.
The thrust generated when submerged body heave movementThose skilled in the art can according to pertinent literature according to different sea situations into
Row estimation is estimated according to different wave states.
(3) the soft chain pulling force longitudinally, laterally, vertical that submerged body is subject to is calculated；
According to what second step obtained gravity, buoyancy, water are subtracted as a result, submerged body is calculated and is equal to resultant force by soft chain pulling force
Power, rudder power, thrust.I.e.
Wherein, Lx, Ly, LzComponent of the soft chain pulling force in submerged body coordinate system longitudinally, laterally, vertical is received for submerged body, including just
It is negative, it is positive consistent with respective coordinates system if component direction just, is then corresponded to, if bearing, then correspond to component direction and respective coordinates
System is positive opposite.
(4) judge direction of the submerged body by vertical soft chain pulling force, if straight up, then return to step (2), if vertical
Downwards or it is zero, then stores current time status information as step (5) original state, enter step (5)；
Judge direction of the submerged body by vertical soft chain pulling force, if straight up, i.e. Lz＜ 0, then soft chain is not opened yet at this time
Tight state considers that soft chain flexible characteristic is considered as rigidity in terms of wave glider dynamic analysis without difference with soft chain, then returns
Step (2) is returned, is that rigidity assumes lower wave glider integrated dynamic model into soft chain；If straight down, Lz＞ 0,
Soft chain provides pressure, if soft chain is considered as rigidity, soft chain offer pressure is reasonable, if considering soft chain flexible characteristic, soft chain provides
Pressure is unreasonable, therefore considers that soft chain flexible characteristic is considered as rigidity with soft chain and has in terms of wave glider dynamic analysis significantly
Difference, soft chain are that rigidity assumes that lower wave glider integrated dynamic model has not been suitable for wave glider power credit
Analysis, storage current time status information enter step (5) as step (5) original state；If zero, i.e. Lz=0, then at this time
Soft chain does not provide vertical force, it is contemplated that submerged body is always below floating body in the navigation of wave glider, and there is no soft chains only
The case where horizontal direction power is without providing vertical force is provided to submerged body, storage current time status information is initial as step (5)
State enters step (5).
(5) it is 0 to enable soft chain pulling force, based on floating body independent power model and submerged body independent power model export floating body and
The respective motion state response of submerged body.The floating motion condition responsive includes the position of floating body, speed, acceleration, described latent
The response of body motion state includes the position of submerged body, speed, acceleration.The floating body independent power model and submerged body independent power
Model is learned, each motion state initial value takes the status information stored when (4) the end of the step.
A kind of possible floating body kinetic model and a kind of possible submerged body kinetic model is described in detail in conjunction with Fig. 3.Fig. 3
In 1 be soft chain, soft chain is non-tensioning state at this time, and floating body and submerged body are independently established kinetic model.It is floating body in dotted line frame 2
The coordinate system of independent power model, floating body satellite coordinate system is using floating body center of gravity as coordinate origin, xFIt is directed toward floating body fore body side
To yFIt is directed toward floating body starboard, zFUnder direction.It is the coordinate system of submerged body independent power model, submerged body satellite coordinate in dotted line frame 3
System is using submerged body center of gravity as coordinate origin, xGIt is directed toward submerged body fore body direction, yGIt is directed toward submerged body starboard, zGUnder direction.In dotted line frame 4
For earth coordinates, origin is taken as one fixed point of earth surface, is northwards x-axis forward direction, is eastwards y-axis forward direction, is z-axis to the earth's core
It is positive.The position of floating body and submerged body is described in the earth coordinates.
Such as in view of wave glider course speed is relatively low, ignore nonlinear terms, general floating body does not install rotation rudder, ginseng
It is as follows according to above water craft maneuverability model foundation floating body linear kinetic model：
Wherein, mFFor floating body quality,It is floating body in longitudinal and vertical additional mass,About the z axis for floating body
Rotary inertia,For the additional rotation inertia of floating body about the z axis, uF, vFFor floating body under floating body satellite coordinate system longitudinally, laterally
Speed, rFTurn bow angular speed, x for floating bodyF, yFFor position of the floating body under earth coordinates, ψFIt is floating body bow to angle,It is floating
The initial longitudinal velocity of body,It is doing longitudinal velocity for floating bodyLongitudinal hydrodynamic force,For
Intersect hydrodynamic force coefficient between each degree of freedom of floating body.
Longitudinally, laterally speed of the floating body under satellite coordinate system, turns bow angular speed, the position under earth coordinates, bow to
The initial value at angle etc. is taken as the status information stored when (4) the end of the step.Empirical equation or reality can be used in those skilled in the art
It the methods of tests and to obtain the above hydrodynamic force coefficient.
About submerged body Dynamic Modeling, such as consider that soft chain is generally submerged body center of gravity with submerged body junction, it is empty with reference to submerged body
Between six-freedom motion general equation formula, it is as follows to establish submerged body kinetic model：
Wherein mGFor submerged body quality,It is submerged body around X-axis, Y-axis, the rotary inertia of Z axis, uG, vG, wGIt is latent
Body under submerged body satellite coordinate system longitudinally, laterally, vertical velocity,For position of the submerged body under earth coordinates
It sets,For submerged body Angle of Heel, Angle of Trim, bow to angle, pG, qG, rGIt is that body is fast in rolling, pitching, yaw angle
Degree.XG, YG, ZG, KG, MG, NGThe power longitudinally, laterally, vertical that is received for submerged body and around X-axis, Y-axis, the torque of Z axis, including latent
The wave glider movement of body hydrodynamic force, thrust, rudder power, gravity and buoyancy, calculating with the flexible connection of above each power is pre-
Hydrodynamic force, rudder power, the thrust being subject to according to submarine's moving state computation submerged body in survey method (2) step, according to submerged body quality volume
Feature calculation gravity is identical with buoyancy, is not repeated to illustrate.
Submerged body under satellite coordinate system longitudinally, laterally, vertical velocity, rolling, pitching turn bow angular speed, geodetic coordinates
Position under system, the status information that Angle of Heel, Angle of Trim, bow store when taking (4) the end of the step to the initial value at angle etc..This field
Technical staff can be used the methods of empirical equation or experiment and calculate power and torque that submerged body is subject to.
(6) floating body is calculated at a distance from submerged body, if distance is less than soft chain length, return to step (5)；If distance is more than soft
Chain length then stores current time status information as step (1) original state, return to step (1)；If distance is equal to soft chain length
Degree, then enter step (7).
The distance between floating body and submerged body
Wherein, xF, yF, zFUnder earth coordinates it is position for floating body, is moved by the wave glider of the flexible connection
Floating body independent power model is calculated in prediction technique (5) step, xG, yG, zGUnder earth coordinates it is position for submerged body
It sets, is calculated by submerged body independent power model in wave glider motion forecast method (5) step of the flexible connection.
If soft chain lengthIfThen soft chain should be converted to tensioning state at this time, store current time status information
As step (1) original state, return to step (1).IfThen soft chain is non-tensioning state, return to step (5).IfIt then needs further to judge both floating body and submerged body relative motion trend.
(7) judge floating body and submerged body relative motion trend, if it is close to each other or in the two line direction it is opposing stationary, then
Return to step (5)；If being located remotely from each other, then current time status information is stored as step (1) original state, return to step
(1)。
The judgement floating body and submerged body relative motion trend, further instruction are as follows：
The distance between floating body and submerged body l obtain time derivation
IfThen floating body is located remotely from each other with submerged body in soft chain direction, and storage current time status information is as step
(1) original state, return to step (1)；
IfThen floating body and submerged body are close to each other in soft chain direction, return to step (5)；
IfThen floating body and submerged body are opposing stationary in soft chain direction, return to step (5).
Claims (6)
1. a kind of wave glider motion forecast method of flexible connection, specifically comprises the following steps：
(1) rudder angle information known to is that rigidity assumes that lower wave glider integrated dynamic model exports wave and slides based on soft chain
Xiang device motion state responds, and wave glider motion state response includes the position of floating body and submerged body, speed, acceleration,
The posture of soft chain；
(2) hydrodynamic force, rudder power, the thrust etc. being subject to according to submarine's moving state computation submerged body, calculates according to Newton's second law
The resultant force that submerged body is subject to, according to submerged body quality volume feature calculation submerged body gravity and buoyancy；
(3) the soft chain pulling force longitudinally, laterally, vertical that submerged body is subject to is calculated；
(4) judge direction of the submerged body by vertical soft chain pulling force, if straight up, then return to step (2), if straight down
Or be zero, then current time status information is stored as step (5) original state, is entered step (5)；
(5) it is 0 to enable soft chain pulling force, based on floating body independent power model and submerged body independent power model output floating body and submerged body
Respective motion state response.The floating motion condition responsive includes the position of floating body, speed, acceleration, the submerged body fortune
Dynamic condition responsive includes the position of submerged body, speed, acceleration.The floating body independent power model and submerged body independent power mould
Type, each motion state initial value take the status information stored when (4) the end of the step；
(6) floating body is calculated at a distance from submerged body, if distance is less than soft chain length, return to step (5)；If distance is more than soft chain length
Degree, then store current time status information as step (1) original state, return to step (1)；If distance is equal to soft chain length,
It then enters step (7)；
(7) judge floating body and submerged body relative motion trend, if it is close to each other or in the two line direction it is opposing stationary, then return
Step (5)；If being located remotely from each other, then current time status information is stored as step (1) original state, return to step (1).
2. a kind of wave glider motion forecast method of flexible connection according to claim 1, which is characterized in that described
The step of (1) in be that rigidity assumes that lower wave glider integrated dynamic model specifically includes based on soft chain：The base
It is that rigidity assumes that lower wave glider integrated dynamic model is vertical comprising submerged body by direct or indirect mode in soft chain
To movement-states such as movement, transverse movement, the acceleration of catenary motion, speed.
3. a kind of wave glider motion forecast method of flexible connection according to claim 1, which is characterized in that described
The step of (3) specifically include：Submerged body is equal to resultant force by soft chain pulling force and subtracts gravity, buoyancy, hydrodynamic force, rudder power, thrust, according to
It is that step (2) obtains as a result, calculating the soft chain pulling force longitudinally, laterally, vertical that is subject to of submerged body.
4. a kind of wave glider motion forecast method of flexible connection according to claim 1, which is characterized in that described
The step of (4) specifically include：The current time status information stored in step (4) can be used as floating body in (5) step and dive
The primary condition of body independent power model.
5. a kind of wave glider motion forecast method of flexible connection according to claim 1, which is characterized in that described
The step of (5) specifically include：The floating body independent power model and submerged body independent power model, it is including but not limited to floating
Body independent power model establishes kinetic model, including but not limited to submerged body independent power with reference to above water craft kinetic model
Model is learned with reference to underwater ocean aircraft power model foundation kinetic model.
6. a kind of wave glider motion forecast method of flexible connection according to claim 1, which is characterized in that described
The step of (6) step specifically included with step (7)：The step (6) can be used as step with the status information in step (7)
(1) soft chain is the primary condition that rigidity assumes lower wave glider integrated dynamic model in.
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