Self-guarding control method of power-driven buoyance under random ocean wave interference

Abstract

The invention belongs to the field of the ocean buoyance, and specifically relates to a self-guarding control method of a power-driven buoyance under random ocean wave interference. The method comprises the following steps: estimating an ocean wave direction when the power-driven buoyance is in self-guarding sailing; and planning the energy optimal seaway in consideration of a wave resistance increasing problem. The ocean wave direction estimation comprises online predicting a wave direction angle of the power-driven buoyance in the self-guarding region in real time, and then obtaining an encounter angle with the ocean wave in the self-guarding sailing of the power-driven buoyance; setting virtual nodes in a self-guarding region of the power-driven buoyance, and performing the energy optimal seaway planning on the power-driven buoyance by adopting an A* algorithm; taking the energy loss of the power-driven buoyance sailing on the planned seaway as a target function according to a function relation between the wave resistance increasing suffered by the power-driven buoyance and the encounter angle so that the energy loss of the power-driven buoyance sailing on the planned seaway islowest. The energy loss of the power-driven buoyance in self-guarding sailing under the wave resistance increasing interference can be effectively reduced, the sailing efficiency of the power-driven buoyance is improved, and the application prospect is extensive.

Description

technical field [0001] The invention belongs to the field of marine buoys, and in particular relates to a self-guarding control method of a motorized buoy under the interference of random sea waves. Background technique [0002] Ocean buoys are automatic observation stations for ocean hydrology, water quality and meteorology that are mainly composed of observation buoys anchored at sea. It can collect the required marine hydrology, water quality and meteorological data continuously and continuously according to the regulations, especially the data that is difficult for survey ships to collect inclement weather and sea conditions. A motorized buoy is a special marine buoy. When it is affected by the external environment and drifts out of a given guard area, it can rely on its own power to autonomously navigate to a given guard point and continue to perform self-guard measurement tasks. However, when the motorized buoy is self-guarding and navigating near the water surface, u...

AI Technical Summary

Problems solved by technology

However, when the motorized buoy is self-guarding and navigating near the water surface, under the interference of random waves, the wave resistance generated by the interaction between the waves and the motion of the motorized buoy will reduce the propulsion power of the main engine of the motorized buoy, making the motorized buoy in its own Serious loss of energy during guard navigation, thereby reducing the navigation efficiency of motorized buoys

Images