Two-degree-of-freedom gliding solar underwater vehicle and control method thereof

Abstract

The invention provides a two-degree-of-freedom gliding solar underwater vehicle and a control method thereof. According to the underwater vehicle, single wings which are in bilateral symmetry are independently controlled and are coordinated with twin wings to move together, so that the underwater vehicle has the characteristics of high energy, high maneuverability, high stability, low noise and the like. Meanwhile, a photovoltaic panel is carried on the underwater vehicle with gliding capability, so that electric energy of the on-board storage battery is continuously supplemented. According to the carrier, the characteristics of a solar underwater robot SAUV and an underwater gliding robot AUG driven by buoyancy are combined. Compared with the abroad SAUV, the gliding solar underwater vehicle has greater energy advantages, has the capacity of widening the operating range and further enhancing the cruising ability, and can be applied to the fields such as ocean parameter measurement, investigation of sea and land information, fixed-point operation, military reconnaissance and the like.

Description

technical field [0001] The invention relates to the technical field of marine engineering, in particular to a two-degree-of-freedom gliding solar-powered underwater vehicle and a control method thereof. Background technique [0002] As an underwater unmanned intelligent mobile platform, unmanned underwater vehicle (UUV) is widely used in marine environment research, marine resource detection and development, submarine topography and landform exploration, marine scientific investigation and other fields. In marine scientific investigation and environmental research, considering the complex terrain of the seabed and areas with undercurrents, waves, and swells, UUV must have the advantages of good flexibility and high mobility to complete tasks such as ocean parameter measurement, seabed information investigation, and fixed-point functions. With the over-exploitation and utilization of marine resources in the near sea, it is particularly important for people to develop and inve...

AI Technical Summary

Problems solved by technology

[0003] Invention patent CN101519113 discloses a gliding propeller based on wave energy. It adopts the method of arranging a frame, a weight, a transmission gear and other components inside the gliding propeller body to arrange a wave energy power generation device. The frame generates relative motion to capture wave energy. Its structure is relatively complex and takes up more internal space.

[0004] Invention patent 201210439258.2 discloses a hybrid propulsion system of thermal energy and solar energy for an underwater glider, which uses ocean thermal energy and solar energy as power propulsion, and only considers the source of power. The gliding device is simple and the feasible range of the wing is Restricted, not enough variety of exercise modes

[0005] At present, most gliders use single-degree-of-freedom gliding, with a single movement mode, low maneuverability, and need to carry a large amount of heavy energy.

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