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A motion prediction method for wave glider with flexible connections

A flexible connection and motion prediction technology, which is applied in the fields of instrumentation, geometric CAD, design optimization/simulation, etc., can solve the problem of few reference materials in structural design, and achieve the effect of strong flexibility

Active Publication Date: 2022-03-18
HARBIN ENG UNIV
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  • 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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  • A motion prediction method for wave glider with flexible connections
  • A motion prediction method for wave glider with flexible connections
  • A motion prediction method for wave glider with flexible connections

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Embodiment Construction

[0026] The specific embodiment of the present invention is:

[0027] The motion prediction method of the wave glider with flexible connection provided by the present invention, the specific steps include:

[0028] (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;

[0029] 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

The motion prediction method of the wave glider with flexible connection, the specific steps are as follows: (1) Obtain the rudder angle information (2) Calculate the force on the submerged body (3) Calculate the flexible chain pull force on the submerged body; (4) Judge the submerged body If the direction of the vertical flexible chain pulling force is vertically upward, then return to (2), if it is vertically downward or zero, then store the current moment state information as (5) initial state, enter (5); (6 ) to calculate the distance between the floating body and the submerged body, if the distance is less than the length of the flexible chain, then return to (5); if the distance is greater than the length of the flexible chain, then store the current state information as the initial state of (1), and return to (1); if the distance is equal to length of the flexible chain, then enter (7); (7) judge the relative movement trend of the floating body and the submerged body, if they are close to each other or relatively static in the direction of the connection between the two, then return to (5); if they are far away from each other, then store the current Time state information is used as 1) initial state, and returns (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 connection. [0002] technical background [0003] 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 dev...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F30/15G06F30/28G06F111/10G06F113/08G06F119/14
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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