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Wave glider motion prediction method

A motion prediction and glider technology, which can be used in instruments, special data processing applications, electrical digital data processing, etc., and can solve the problems of unclear physical meaning and values.

Active Publication Date: 2018-08-28
HARBIN ENG UNIV
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Problems solved by technology

However, the physical meaning and value of each matrix such as rigid body mass matrix, Coriolis centripetal force matrix, etc. are not clear enough, which are obviously different from the solution methods of rigid body mass matrix, Coriolis centripetal force, restoring force matrix, etc. in the present invention

Method used

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Embodiment Construction

[0136] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0137] combine figure 1 , the motion prediction method of the wave glider provided by the invention comprises the following steps:

[0138] (1) Establish a coordinate system and select degrees of freedom;

[0139] combine figure 2 , where the specific method of establishing the coordinate system is: establish the earth coordinate system, the system coordinate system, the floating body coordinate system, and the submersible body coordinate system. The origin of the geodetic coordinate system is taken as a fixed point on the surface of the earth, the positive direction of the x-axis is to the north, the positive direction of the y-axis is to the east, and the positive direction of the z-axis is to the center of the earth. The origin of the system coordinate system is located at the center of gravity of the system, x 0 The direction is perpendicular to the lanya...

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Abstract

The invention discloses a wave glider motion prediction method and belongs to the field of dynamic modeling of a marine vehicle, namely a wave glider. The method comprises the steps that a coordinatesystem is established, and a degree of freedom is selected; a rigid body mass matrix and additional force are calculated; a Coriolis force matrix is calculated; an inertial hydrodynamic matrix is calculated; a quasi-Coriolis force matrix is calculated; a restoring force matrix is calculated; a control force matrix containing thrust and rudder force is calculated; a damping force matrix containingviscous hydrodynamic force and windy wave flow force is calculated; resultant force of the wave glider is solved; the resultant force and an inverse matrix of the rigid body mass matrix are multiplied, and a generalized acceleration is calculated; and numerical integration is performed to solve a generalized velocity, and an attitude angle and the position of the wave glider under the geodetic coordinate system are further solved. Through the wave glider motion prediction method, physical significance is clear, analytical calculation is simple, dynamic characteristics of the wave glider can beeffectively reflected, and the motion state of the wave glider can be effectively predicted.

Description

technical field [0001] The invention belongs to the field of dynamic modeling of a wave glider for marine vehicles, and in particular relates to a motion prediction method for a wave glider. Background technique [0002] The wave glider is a new type of offshore observation platform. It absorbs wave energy in the ocean and converts it into the power of its own navigation. Through solar panels, it converts solar energy into electrical energy to power its own equipment. It has many advantages such as strong battery life, low operating cost, strong adaptability under harsh sea conditions, low operating noise, and no pollution. It provides a new way for the observation and research of various marine information, and has been widely used in long-term marine environments. Detection, biological migration research, weather information forecasting and other fields. [0003] However, the wave glider's special rigid-flexible multi-body structure and special submerged structure make dy...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
CPCG06F2111/10G06F2119/06G06F30/20
Inventor 李晔王磊峰廖煜雷潘恺文张蔚欣王雨杉范佳佳姜权权李一鸣沈鹏
Owner HARBIN ENG UNIV
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