CN113093605A - Underwater glider networking control system and method for internal solitary wave observation - Google Patents
Underwater glider networking control system and method for internal solitary wave observation Download PDFInfo
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- CN113093605A CN113093605A CN202110348918.5A CN202110348918A CN113093605A CN 113093605 A CN113093605 A CN 113093605A CN 202110348918 A CN202110348918 A CN 202110348918A CN 113093605 A CN113093605 A CN 113093605A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention discloses an underwater glider networking control system and method for internal solitary wave observation, wherein the system comprises an underwater glider, an underwater glider shore-based control center, a satellite communication system and an ocean model data system; the underwater glider shore-based control center is communicated with the underwater glider through a satellite communication system and exchanges instruction data with the underwater glider; meanwhile, the satellite communication system transmits the marine isolated wave data after the numerical analysis to the underwater glider, and the underwater glider determines the networking control mode of the underwater glider according to the marine isolated wave data observed by satellite remote sensing.
Description
Technical Field
The invention relates to the technical field of underwater robot networking control, in particular to a networking control method for an underwater glider.
Background
Lvrong channel due to its unique topography, mixed astronomical trend and complex ocean background field[1]. So that most of the internal solitary waves in the north of south China sea originate from the strait of Lignong. By tracing the distribution of solitary waves in the ocean in south sea[2]. It is found that the marine solitary wave is a special internal wave carrying huge energy, and when the underwater glider encounters the strong nonlinear internal solitary wave, the stability, the maneuverability and even the safety of the underwater glider are greatly influenced[3]. The existing underwater glider networking control method does not consider the influence caused by external marine environment change during implementation, thereby causing the problems of low accuracy of the net formation of the marine glider, poor formation retention capability and difficult control of the whole formation.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides an underwater glider networking control method facing to internal solitary wave observation, which can effectively reduce the influence of external marine environment change on a networking formation and enhance the control capability of a marine glider shore-based control center on the formation, thereby improving the networking efficiency of the marine glider.
The purpose of the invention is realized by the following technical scheme:
an underwater glider network control system facing internal solitary wave observation comprises an underwater glider, an underwater glider shore-based control center, a satellite communication system and an ocean model data system; the underwater glider shore-based control center is communicated with the underwater glider through a satellite communication system and exchanges instruction data with the underwater glider; meanwhile, the satellite communication system transmits the marine isolated wave data after the numerical analysis to the underwater glider, and the underwater glider determines the networking control mode of the underwater glider according to the marine isolated wave data observed by satellite remote sensing.
Furthermore, the running track of the longitudinal vertical surface of the underwater glider is zigzag, and the underwater glider floats out of the water surface and is in communication connection with the satellite to receive data transmitted by the satellite communication system.
Furthermore, the satellite communication system is a connection channel for information communication between the underwater glider shore-based control center and the underwater glider; the data transmitted by the satellite communication system comprises a control instruction of an underwater glider shore-based control center, communication data of the underwater glider and inner isolated wave data observed by satellite remote sensing.
Furthermore, the underwater glider responds to the received marine isolated wave data, and determines the task allocation of the underwater glider, wherein the task allocation comprises the number of the underwater gliders, the queue arrangement and the operation parameter setting of the underwater glider, and the operation parameters of the underwater glider comprise the course, the longitude and latitude, the rolling, the pitching, the depth and the oil inlet amount of the underwater glider.
The invention also provides an underwater glider networking control method facing the internal solitary wave observation, which comprises the following two modes; one of the methods is as follows:
(104) receiving isolated wave data in the ocean by the underwater glider, wherein the isolated wave data is observed and analyzed by satellite remote sensing;
(105) according to the received inner isolated wave data, the underwater glider carries out task allocation on subtasks according to the characteristics of the underwater glider and the timeliness of the tasks;
(106) dynamically adjusting the subtasks in time in the task execution process, and reallocating the tasks;
the other mode is to change the marine data of the task and adjust the control strategy of the underwater glider, and specifically comprises the following steps:
(201) arranging the number of the tasks of the underwater glider according to the transmitted intra-sea isolated wave data;
(202) calculating the queue arrangement of the underwater glider by combining the task purpose and the marine solitary wave parameters;
(203) and adjusting the operation parameter setting of the underwater glider through isolated wave data in the ocean.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
the method can perform distribution control on tasks according to the characteristics of the underwater glider and the received marine solitary wave information, and has high timeliness. Through the communication connection between the underwater glider and the underwater glider shore-based control center, the information data of the underwater glider is transmitted in real time, so that the task change of the underwater glider is responded, and the applicability is strong. Isolated in south China seaWaves are more active in the first one to the first eight, fifteen to twenty two of the lunar calendar, and more active in summer than in winter[1]. The method has the advantages that by combining solitary wave information in external oceans, the running position of the underwater glider can be dynamically controlled, the influence of external oceanic environment change on the networking formation is effectively reduced, and the accuracy of the networking formation is improved. The invention has clear networking architecture and novel networking control method, and can enhance the control capability of the shore-based control center of the ocean glider on the formation, thereby improving the networking efficiency of the ocean glider.
Drawings
Fig. 1 is a schematic diagram of a networking architecture of a control system according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a networking control system of an underwater glider in an embodiment of the present invention.
Fig. 3 is a data interaction schematic diagram of a networking task control method of an underwater glider in the embodiment of the invention.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 and 2, an underwater glider network control system for internal solitary wave observation comprises an underwater glider, an underwater glider shore-based control center, a satellite communication system and an ocean model data system. The underwater glider shore-based control center is communicated with the underwater glider through a satellite communication system and exchanges command data with the underwater glider. Meanwhile, the satellite communication system transmits the data of the internally isolated waves after the numerical analysis to the underwater glider, and the underwater glider determines the networking control method of the underwater glider according to the data of the internally isolated waves observed by the satellite in a remote sensing manner. Wherein the number of underwater gliders in figure 1 is adjustable.
In practical application, the underwater glider network control at least comprises an underwater glider, the running track of the longitudinal vertical surface of the underwater glider is in a sawtooth shape, and the underwater glider is connected with a satellite in a communication mode after floating out of the water surface so as to carry out data interaction of a satellite communication system.
In practical application, the satellite communication system is a connection channel for data communication between an underwater glider shore-based control center and the underwater glider. The data transmitted by the satellite communication system comprises a control instruction of an underwater glider shore-based control center, transmission data of the underwater glider and inner isolated wave data observed by satellite remote sensing.
In practical application, the underwater glider responds to the received marine isolated wave data, and determines task allocation of the underwater glider, wherein the task allocation comprises the number of the underwater gliders, queue arrangement and operation parameter setting of the underwater glider, and the operation parameters comprise the course, longitude and latitude, rolling, pitching, depth and oil inlet amount of the underwater glider.
An underwater glider networking control method facing internal solitary wave observation comprises the following steps based on the control system and shown in figure 3:
(101) receiving isolated wave data in the ocean by the underwater glider, wherein the isolated wave data is observed and analyzed by satellite remote sensing;
(102) according to the received inner isolated wave data, the underwater glider carries out task allocation on subtasks according to the characteristics of the underwater glider and the timeliness of the tasks;
(103) and in the task execution process, the subtasks need to be dynamically adjusted in time to redistribute the tasks.
The marine isolated wave data which are obtained by the underwater glider and subjected to satellite remote sensing observation and analysis comprise the amplitude, the period and the wave speed of the internal isolated wave.
Specifically, the method for networking the underwater glider facing the internal solitary wave observation can also be realized, the control strategy of the underwater glider is adjusted according to the ocean data change of the task, and based on the control system, the method comprises the following steps:
(201) arranging the number of the tasks of the underwater glider according to the transmitted intra-sea isolated wave data;
(202) calculating the queue arrangement of the underwater glider by combining the task purpose and the marine solitary wave parameters;
(203) and adjusting the operation parameter setting of the underwater glider through isolated wave data in the ocean.
In order to reduce the influence of the inner solitary wave on the underwater glider, the underwater glider performs task arrangement according to data of the underwater glider, wherein the task arrangement comprises the number of task stations and queue arrangement. The underwater glider net precision is increased by arranging parameters of the underwater glider, wherein the parameters comprise course, longitude and latitude, rolling, pitching, depth and oil inlet amount.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Reference documents:
[1] study on spatial distribution and temporal variation characteristics of solitary waves in Huangxianwan, south China sea [ D ]. university of China sea, 2013.
[2]Zhao,Zhongxiang.A study of nonlinear internal waves in the northeastern South China Sea.Doctor thesis.University of Delaware.2005.
[3] Chen Yu, the numerical simulation study on the interaction between solitary waves in the ocean and submerged bodies [ D ]. university of south China's Articipation, 2010.
The present invention is not limited to the above-described embodiments. The foregoing description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention, and the above specific embodiments are merely illustrative and not restrictive. Those skilled in the art can make many changes and modifications to the invention without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (5)
1. An underwater glider network control system facing internal solitary wave observation is characterized by comprising an underwater glider, an underwater glider shore-based control center, a satellite communication system and an ocean model data system; the underwater glider shore-based control center is communicated with the underwater glider through a satellite communication system and exchanges instruction data with the underwater glider; meanwhile, the satellite communication system transmits the marine isolated wave data after the numerical analysis to the underwater glider, and the underwater glider determines the networking control mode of the underwater glider according to the marine isolated wave data observed by satellite remote sensing.
2. The underwater glider net control system for inward solitary wave observation according to claim 1, wherein the running track of the vertical plane of the underwater glider is zigzag, and the underwater glider floats out of the water surface and is in communication connection with a satellite to receive data transmitted by the satellite communication system.
3. The underwater glider net control system for inward solitary wave observation according to claim 1, wherein the satellite communication system is a connection channel for information communication between an underwater glider shore-based control center and an underwater glider; the data transmitted by the satellite communication system comprises a control instruction of an underwater glider shore-based control center, communication data of the underwater glider and inner isolated wave data observed by satellite remote sensing.
4. The underwater glider net control system for inward solitary wave observation according to claim 1, wherein the underwater gliders respond to the received marine solitary wave data and determine task allocation of the underwater gliders, and the task allocation comprises the number of the underwater gliders, queue arrangement and operation parameter setting of the underwater gliders, and the operation parameters of the underwater gliders comprise the course, longitude and latitude, rolling, pitching, depth and oil inlet amount of the underwater gliders.
5. An underwater glider networking control method facing internal solitary wave observation is based on the networking control system of claim 1 and is characterized by comprising the following two modes; one of the ways is:
(101) receiving isolated wave data in the ocean by the underwater glider, wherein the isolated wave data is observed and analyzed by satellite remote sensing;
(102) according to the received inner isolated wave data, the underwater glider carries out task allocation on subtasks according to the characteristics of the underwater glider and the timeliness of the tasks;
(103) dynamically adjusting the subtasks in time in the task execution process, and reallocating the tasks;
the other mode is to change the marine data of the task and adjust the control strategy of the underwater glider, and specifically comprises the following steps:
(201) arranging the number of the tasks of the underwater glider according to the transmitted intra-sea isolated wave data;
(202) calculating the queue arrangement of the underwater glider by combining the task purpose and the marine solitary wave parameters;
(203) and adjusting the operation parameter setting of the underwater glider through isolated wave data in the ocean.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110347176A (en) * | 2019-06-14 | 2019-10-18 | 深圳市投资控股有限公司 | Ocean aerodone group-network construction, method for allocating tasks and approach to formation control |
| CN114237314A (en) * | 2021-12-13 | 2022-03-25 | 西北工业大学 | Ocean internal wave eliminating method based on active control vibration wing plate |
| CN115422746A (en) * | 2022-09-01 | 2022-12-02 | 中国海洋大学 | Internal solitary wave parameter extraction algorithm based on underwater glider |
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| CN110347176A (en) * | 2019-06-14 | 2019-10-18 | 深圳市投资控股有限公司 | Ocean aerodone group-network construction, method for allocating tasks and approach to formation control |
| WO2020257879A1 (en) * | 2019-06-26 | 2020-12-30 | Ron Allum Deepsea Services Pty Ltd | Underwater glider |
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| CN110347176A (en) * | 2019-06-14 | 2019-10-18 | 深圳市投资控股有限公司 | Ocean aerodone group-network construction, method for allocating tasks and approach to formation control |
| WO2020257879A1 (en) * | 2019-06-26 | 2020-12-30 | Ron Allum Deepsea Services Pty Ltd | Underwater glider |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110347176A (en) * | 2019-06-14 | 2019-10-18 | 深圳市投资控股有限公司 | Ocean aerodone group-network construction, method for allocating tasks and approach to formation control |
| CN114237314A (en) * | 2021-12-13 | 2022-03-25 | 西北工业大学 | Ocean internal wave eliminating method based on active control vibration wing plate |
| CN114237314B (en) * | 2021-12-13 | 2023-06-30 | 西北工业大学 | Ocean internal wave eliminating method based on active control vibration wing plate |
| CN115422746A (en) * | 2022-09-01 | 2022-12-02 | 中国海洋大学 | Internal solitary wave parameter extraction algorithm based on underwater glider |
| CN115422746B (en) * | 2022-09-01 | 2023-04-25 | 中国海洋大学 | Internal solitary wave parameter extraction algorithm based on underwater glider |
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