Design and control method of a shuttle-shaped underwater glider

Abstract

The invention belongs to the field of marine environmental monitoring and submarine resource exploration, and specifically relates to a shuttle-shaped underwater glider design and control method. A shuttle-shaped underwater glider mainly comprises a streamlined shell body and a posture adjusting module, a buoyancy driving module, a tail vane module and a control communication module which are arranged in the shell body; the appearance design of the whole glider fully considers the influence of water power, a main pressure withstand cabin is roughly of a shuttle shape, and wings and helm pieces are streamlined; the buoyancy driving module is used for changing buoyancy in operation; a pitching mechanism in the posture adjusting module is used for adjusting the pitching posture of a glider body, and a rotating mechanism in the posture adjusting module is used for adjusting the heeling posture of the glider body; the tail vane module can change the steering direction of the glider body on a horizontal surface; when the timing sequences of the three modules are coordinated, the glider can form a zigzag motion trail in a vertical surface or can do spiral rotational motion in a space range; meanwhile, a sensor carried by the glider can be used for acquiring seabed data, and communication equipment can return the data in a real-time manner. The shuttle-shaped underwater glider provided by the invention has the advantages that the size is small, the structure is compact, the navigational speed is high, the time of endurance is long, and the direction controllability is good.

Description

Technical field: [0001] The invention belongs to the fields of marine environment monitoring and seabed resource exploration, and in particular relates to a design and control method of a shuttle-shaped underwater glider. Background technique: [0002] The underwater glider is a new type of autonomous underwater robot developed to meet the needs of large-scale, long-term, and large-scale marine environment monitoring. It is not equipped with a propulsion device, and uses buoyancy drive to complete floating, diving and gliding underwater, and is equipped with sensors to monitor the seabed environment. [0003] At present, domestic underwater glider research has just started. Most of the existing underwater glider models are modeled after the classic Slocum model. The driving energy is driven by electric energy, temperature difference energy, and solar energy, but high speed and long battery life. The two main performance indicators of time are still difficult to meet, and th...

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Problems solved by technology

[0003] At present, domestic underwater glider research has just started. Most of the existing underwater glider models are modeled after the classic Slocum model. The driving energy is driven by electric energy, temperature difference energy, and solar energy, but high speed and long battery life. The two main performance indicators of time are still difficult to meet, and the autonomy of the glider is poor, the direction adjustment and control capabilities are poor, and it is significantly affected by changes in ocean currents.

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