Motion parameter optimization method for optimal energy consumption of underwater glider

Abstract

The invention relates to a motion parameter optimization method for optimal energy consumption of an underwater glider. The method comprises the following steps that: an initialization parameter of an underwater glider is input; a minimum value in motion parameter constraint condition values is used as an initial value of a to-be-optimized motion parameter; an enumeration calculating method is employed to respectively calculate G function values in the motion parameter constraint condition values under all glide angle conditions; a glide angle corresponded to a maximum G function value is determined; an iteration step size is added to a glide speed; if a maximum glide speed constraint condition is exceeded, an iteration step size is added for a glide depth in the motion parameter constraint condition values; and if a maximum glide depth constraint condition is exceeded, a maximum value in a G function value sequence is determined as well as a glide speed, a glide depth and a glide angle are optimal glide motion parameters, wherein the glide speed, the glide depth and the glide angle are corresponded to the maximum value in the G function value sequence. According to the invention, a system energy consumption feature and a motion performance of an underwater glider are comprehensively optimized; an energy utilization rate of the underwater glider is improved; and endurance capability of the underwater glider system is also enhanced.

Description

technical field [0001] The invention relates to an underwater robot control technology, in particular to a motion parameter optimization method for optimal energy consumption of an underwater glider. Background technique [0002] Underwater glider is a new type of underwater robot system developed by combining buoy, submersible buoy technology and underwater robot technology, which has no external propulsion device and is driven by its own buoyancy. This new type of underwater robot has the advantages of simple structure, small size, light weight, low cost, easy maintenance and use, and has the characteristics of wide operating range, long operating time, maneuverable controllability, and reusability. The underwater glider system is an effective supplement to the existing underwater monitoring technology, and its use in marine environmental monitoring can effectively improve the spatial and temporal density of marine environmental observation. [0003] The underwater glider...

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Problems solved by technology

There is no method to optimize the motion parameters of

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