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A Motion Prediction Method for a Wave Glider

A technology for motion prediction and glider, applied in the direction of instrumentation, design optimization/simulation, calculation, etc., can solve problems such as physical meaning and value are not clear enough, and achieve a more scientific and rigorous effect of wave glider dynamics model

Active Publication Date: 2022-03-18
HARBIN ENG UNIV
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  • Description
  • Claims
  • Application Information

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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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  • A Motion Prediction Method for a Wave Glider
  • A Motion Prediction Method for a Wave Glider
  • A Motion Prediction Method for a Wave Glider

Examples

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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 method for predicting the motion of a wave glider, which belongs to the field of dynamic modeling of the wave glider of an ocean vehicle. The invention includes: establishing a coordinate system and selecting degrees of freedom; calculating a rigid body mass matrix and an additional force; calculating a Coriolis force matrix; calculating an inertial hydrodynamic matrix; calculating a Coriolis-like force matrix; Calculate the damping force matrix including viscous hydrodynamic force, wind and wave current force; solve the wave glider resultant force; multiply the resultant force and the inverse of the rigid body mass matrix to calculate the generalized acceleration; perform numerical integration to solve the generalized velocity, and further solve Attitude angle and position of the wave glider in the geodetic coordinate system. The method for predicting the motion of the wave glider provided by the invention has clear physical meaning, simple analysis and calculation, can effectively reflect the dynamic characteristics of the wave glider, and can effectively predict the motion state of the wave glider.

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 Patents(China)
IPC IPC(8): G06F30/28G06F111/10G06F113/08G06F119/14
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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