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Motion prediction method for flexibly-connected wave glider

A technology of flexible connection and motion prediction, which is applied in the direction of instruments, special data processing applications, electrical digital data processing, etc., can solve the problem of few reference materials in structural design, and achieve the effect of strong flexibility

Active Publication Date: 2018-09-11
HARBIN ENG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

So far, domestic research on wave-powered gliders is still in its infancy, and there are few references on the platform's structural design or dynamic analysis

Method used

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  • Motion prediction method for flexibly-connected wave glider
  • Motion prediction method for flexibly-connected wave glider
  • Motion prediction method for flexibly-connected wave glider

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Embodiment Construction

[0025] The specific embodiment of the present invention is:

[0026] The motion prediction method of the wave glider with flexible connection provided by the present invention, the specific steps include:

[0027] (1) The rudder angle information is known, and the integrated dynamics model of the wave glider outputs the motion state response of the wave glider based on the assumption that the flexible chain is rigid. The motion state response of the wave glider includes the position, velocity, and Acceleration, attitude of flexible chain;

[0028] The flexible chain is an integrated dynamics model of the wave glider under the assumption of rigidity, and is not limited to the method used to establish it, but it must include the acceleration of the longitudinal motion, lateral motion, and vertical motion of the submersible in a direct or indirect manner. , speed and other motion state quantities. The direct method includes the degrees of freedom of the longitudinal, lateral an...

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Abstract

Provided is a motion prediction method for a flexibly-connected wave glider. The method comprises the following concrete steps: (1) acquiring rudder angle information (2), calculating acting force (3)applied to a submerged body and calculating flexible chain pulling force applied to the submerged body; (4) determining the direction of a vertical flexible chain pulling force applied to the submerged body, returning (2) if the direction is vertical upward, storing current time state information as the initial state of (5) if the direction is vertical downward or zero and entering (5); (6) calculating the distance between a floating body and the submerged body and returning (5) if the distance is less than the length of a flexible chain; if the distance is more than the length of the flexible chain, storing the current time state information as the initial state of (1) and returning (1); if the distance is equal to the length of the flexible chain, entering (7); (7) determining a relative motion tendency for the floating body and the submerged body and returning (5) if the floating body and the submerged body are close to each other or remain relatively static in the direction of a connecting line between the floating body and the submerged body and returning (6); and if the floating body and the submerged body are far away, storing the current time state information as the initial state of (1) and returning (1).

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 with flexible connections. technical background [0002] At present, ocean monitoring technology is facing various severe challenges such as large-scale, long-term characteristics, harsh operating environment and expensive observation costs. In order to solve these problems, we need to develop a set of Long-term large-scale operation without maintenance and low cost autonomous operation platform. At present, the wave-powered gliders emerging internationally provide innovative ideas for ocean observation technology. The platform cleverly utilizes marine environmental energy to realize long-term and large-range observation operations, and exchanges commands and data between satellites and monitoring base stations. Moreover, the overall manufacturing cost is low, and it has broad developmen...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
CPCG06F30/15G06F2119/06
Inventor 李晔王磊峰廖煜雷潘恺文张蔚欣张伟王雨杉范佳佳贾知浩沈鹏
Owner HARBIN ENG UNIV
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