A method for adjusting the center height of an underwater glider

Abstract

The present invention discloses a method for adjusting the metacentric height of an underwater glider, comprising the following steps: balancing the entire glider and weighing the total mass of the entire glider; hanging the glider below the water surface in a pool; hanging an auxiliary mass block on one side of the glider to determine the metacentric height of the entire glider; removing the auxiliary mass block; controlling the rotation of the battery pack to determine the current first eccentricity value of the entire machine and the current second eccentricity value of the entire machine; determining the adjustment weight and the adjustment direction; adjusting the external adjustment mass block according to the adjustment weight and the adjustment direction, so that the eccentricity of the eccentric mass block of the attitude adjustment module accounts for half of the first eccentricity value of the entire machine and the metacentric height of the entire machine. The adjustment method of the present invention can determine the specific adjustment weight and direction, so that the adjustment result is more accurate, and the attitude adjustment of the glider in the underwater working mode is more accurate.

Description

Technical Field

[0001] The invention relates to the technical field of gliders, and in particular to a method for adjusting the metacentric height of an underwater glider. Background Art

[0002] An underwater glider is an autonomous underwater vehicle that uses net buoyancy and attitude angle adjustment to obtain propulsion. It consumes very little energy, consuming only a small amount of energy when adjusting net buoyancy and attitude angle. It has a flight endurance of several months and can reach a range of thousands of kilometers. Underwater gliders can carry instruments and equipment such as CTD (temperature, salinity, depth) sensors to perform long-term continuous detection and monitoring of ocean environmental parameters such as temperature, salinity and depth in the ocean. The range is generally more than hundreds of kilometers, and the continuous working time can reach dozens of days or even months.

[0003] The underwater glider can switch its working mode by adjusting the attitude adjustment module, which requires that the eccentricity ratio of the eccentric mass block of the attitude adjustment module is 1 / 2 of the metacentric height of the whole machine. Therefore, before the underwater glider works, it is necessary to measure the metacentric height of the whole machine and the eccentricity ratio of the eccentric mass block of the attitude adjustment module, and make adjustments to achieve that the eccentricity ratio of the eccentric mass block of the attitude adjustment module is 1 / 2 of the metacentric height of the whole machine.

[0004] In the prior art, the adjustment process of achieving the eccentricity ratio of the eccentric mass block of the posture adjustment module to be 1 / 2 of the center height of the whole machine is only roughly adjusted based on experience, and the accuracy of the adjustment result is poor. Summary of the invention

[0005] In order to solve the above problems existing in the prior art, the present invention provides a method for adjusting the metacentric height of an underwater glider. The technical problem to be solved by the present invention is achieved through the following technical solutions:

[0006] A first aspect of an embodiment of the present invention provides a method for adjusting the metacentric height of an underwater glider, comprising the following steps:

[0007] Balance the glider and weigh the total mass of the glider;

[0008] Put two nooses on the nose and tail of the glider and fish the glider below the water surface in the pool;

[0009] Suspending an auxiliary mass block on one side of the glider, and determining the metacentric height of the glider according to the mass of the auxiliary mass block, the rotation angle of the glider and the total mass of the glider;

[0010] removing the auxiliary mass block and making the glider stationary and stable;

[0011] Control the battery pack to rotate, and determine the eccentricity of the eccentric mass block of the posture adjustment module to account for the first eccentricity value of the current whole machine and the eccentricity of the mass other than the eccentric mass block to account for the second eccentricity value of the current whole machine according to the rolling angle of the battery pack and the rolling angle of the whole machine;

[0012] Determine the adjustment weight and adjustment direction according to the current first eccentricity value of the whole machine and the current second eccentricity value of the whole machine;

[0013] The external adjustment mass block is adjusted according to the adjustment weight and the adjustment direction, so that the eccentricity ratio of the eccentric mass block of the posture adjustment module is half of the first eccentricity value of the whole machine.

[0014] In one embodiment of the present invention, the auxiliary mass block includes a plurality of auxiliary masses with different masses;

[0015] The method of suspending the auxiliary mass block on one side of the glider and determining the metacentric height of the glider according to the mass of the auxiliary mass block, the rotation angle of the glider and the total mass of the glider comprises:

[0016] Each auxiliary block is suspended on one side of the glider, and each metacentric height of the glider is determined according to the mass of each auxiliary block, each rotation angle and the total mass of the whole glider;

[0017] Calculate the average of multiple metacentric heights to get the metacentric height of the whole machine.

[0018] In one embodiment of the present invention, the battery pack is controlled to rotate, and according to the roll angle of the battery pack and the roll angle of the whole machine, the eccentricity of the eccentric mass block of the attitude adjustment module accounts for the first eccentricity value of the current whole machine and the eccentricity of the mass other than the eccentric mass block accounts for the second eccentricity value of the current whole machine, including:

[0019] Manipulate the battery pack to rotate multiple times;

[0020] According to the rolling angle of each rotation of the battery pack and the rolling angle of the whole machine, determine the proportion of the eccentric mass block of the attitude adjustment module to the current first eccentricity value of the whole machine and the proportion of the mass eccentricity other than the eccentric mass block to the current second eccentricity value of the whole machine;

[0021] Calculate the average value of the eccentricity ratio of the eccentric mass block of the posture adjustment module to the current first eccentricity value of the whole machine for multiple times, and use it as the current first eccentricity value of the whole machine;

[0022] The average value of the mass eccentricity other than the eccentric mass block to the current second eccentricity value of the whole machine is calculated multiple times as the current second eccentricity value of the whole machine.

[0023] In one embodiment of the present invention, adjusting the external adjustment mass block according to the adjustment weight and the adjustment direction includes:

[0024] If the adjustment weight is a positive value, moving the external adjustment mass block having a weight equal to the absolute value of the adjustment weight on the upper side of the glider to the lower side of the glider;

[0025] If the adjustment weight is a negative value, the external adjustment mass block whose weight is the absolute value of the adjustment weight on the lower side of the glider is moved to the upper side of the glider.

[0026] In one embodiment of the present invention, the calculation formula of the adjustment weight D is:

[0027] D=(ab)*M / L

[0028] Among them, a represents the first eccentricity value of the current whole machine, b represents the second eccentricity value of the current whole machine, M represents the total mass of the whole machine, and L represents the distance between the center of gravity of an external adjustment mass block on the upper side of the glider and the center of gravity of an external adjustment mass block on the lower side of the glider.

[0029] In one embodiment of the present invention, the number of the auxiliary blocks is three, namely, a first auxiliary block, a second auxiliary block and a third auxiliary block; the rotation angles include: a first rotation angle, a second rotation angle and a third rotation angle;

[0030] The method of suspending the auxiliary mass block on one side of the glider and determining a plurality of metacentric heights of the glider according to the mass of each auxiliary mass, each rotation angle and the total mass of the whole glider comprises:

[0031] The first auxiliary block is suspended on the left wing fixing frame of the glider, and a first metacentric height of the glider is determined according to the mass of the first auxiliary block, the first rotation angle and the total mass of the whole glider;

[0032] The second auxiliary block is suspended on the left wing fixing frame of the glider, and the second metacentric height of the glider is determined according to the mass of the second auxiliary block, the second rotation angle and the total mass of the whole glider;

[0033] The third auxiliary block is suspended on the left wing fixing frame of the glider, and the third metacentric height of the glider is determined according to the mass of the third auxiliary block, the third rotation angle and the total mass of the whole glider;

[0034] The calculating the average value of the plurality of metacentric heights to obtain the metacentric height of the whole machine includes:

[0035] The average of the first metacentric height, the second metacentric height and the third metacentric height is calculated to obtain the whole machine metacentric height.

[0036] In one embodiment of the present invention, the battery pack is controlled to rotate three times.

[0037] In one embodiment of the present invention, a plurality of movable external adjustment mass blocks are respectively provided on both sides of the glider.

[0038] Beneficial effects of the present invention:

[0039] The present invention determines the current first eccentricity value and the current second eccentricity value of the whole machine by rotating the battery pack, and then calculates the weight and direction that need to be adjusted according to the current first eccentricity value and the current second eccentricity value of the whole machine, and after adjustment, the eccentricity of the eccentric mass block of the attitude adjustment module accounts for half of the first eccentricity value of the whole machine. The adjustment method of the present invention can determine the specific adjustment weight and direction, so that the adjustment result is more accurate, and the attitude adjustment of the glider in the underwater working mode is more accurate.

[0040] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0041] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0043] Figure 1 A schematic diagram of a flow chart of a method for adjusting the metacentric height of an underwater glider provided in an embodiment of the present invention;

[0044] Figure 2 A schematic diagram of an auxiliary mass block provided in an embodiment of the present invention being suspended on one side of a glider;

[0045] Figure 3 A schematic diagram of the center height H of the whole machine provided by an embodiment of the present invention;

[0046] Figure 4 A schematic diagram of the roll angle of a glider after the auxiliary mass block is suspended according to an embodiment of the present invention;

[0047] Figure 5 A schematic diagram of the geometric relationship between a and b provided in an embodiment of the present invention;

[0048] Figure 6 A schematic diagram of the placement position of the external adjustment mass block provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0049] The present invention is further described in detail below with reference to specific embodiments, but the embodiments of the present invention are not limited thereto.

[0050] like Figure 1 As shown, a first aspect of an embodiment of the present invention provides a method for adjusting the center height of an underwater glider, comprising the following steps:

[0051] Step 11, balance the glider and weigh the total mass of the glider.

[0052] Step 12, put two nooses on the nose and tail of the glider, and fish the glider below the water surface in the pool.

[0053] Step 13: hang the auxiliary mass block on one side of the glider, and determine the metacentric height of the glider according to the mass of the auxiliary mass block, the rotation angle of the glider and the total mass of the glider.

[0054] Step 14, remove the auxiliary mass block and make the glider still and stable.

[0055] Step 15, control the battery pack to rotate, and determine the eccentricity ratio of the eccentric mass block of the attitude adjustment module to the first eccentricity value of the current whole machine and the eccentricity ratio of the mass outside the eccentric mass block to the second eccentricity value of the current whole machine according to the roll angle of the battery pack and the roll angle of the whole machine.

[0056] Step 16, determining the adjustment weight and adjustment direction according to the current first eccentricity value of the whole machine and the current second eccentricity value of the whole machine.

[0057] Step 17, adjusting the external adjustment mass block according to the adjustment weight and adjustment direction, so that the eccentricity ratio of the eccentric mass block of the posture adjustment module is half of the first eccentricity value of the whole machine.

[0058] In this embodiment, the current first eccentricity value and the current second eccentricity value of the whole machine are determined by rotating the battery pack, and then the weight and direction to be adjusted are calculated based on the current first eccentricity value and the current second eccentricity value of the whole machine. After adjustment, the eccentricity of the eccentric mass block of the attitude adjustment module is half of the first eccentricity value of the whole machine. The adjustment method of the present invention can determine the specific adjustment weight and direction, so that the adjustment result is more accurate, and the accuracy of the attitude adjustment of the glider in the underwater working mode is improved.

[0059] The second aspect of the embodiment of the present invention specifically describes the adjustment method provided by the first aspect of the embodiment of the present invention. The second aspect of the embodiment of the present invention provides a method for adjusting the metacentric height of an underwater glider, comprising the following steps:

[0060] Step 21, balance the glider and weigh the total mass of the glider.

[0061] In this step, when the roll angle of the battery pack is adjusted to 0 degrees, the battery pack is rolled to 0 degrees, and the battery pack is in the middle position. At this time, the whole machine is in a balanced state, and then the total mass M of the whole machine is weighed.

[0062] Step 22, two nooses are put on the nose and tail of the glider, and the glider is fished below the water surface in the pool. In this step, the glider is fished below the water surface by two nooses.

[0063] Step 23, hang the auxiliary mass block on one side of the glider, and determine the metacentric height of the glider according to the mass of the auxiliary mass block, the rotation angle of the glider and the total mass of the glider. The auxiliary mass block can be hung on the wing fixing frame on one side of the glider, such as Figure 2 and Figure 3 As shown, after the glider is stable, record the rotation angle (roll angle) of the glider.

[0064] In this step, if Figure 4 As shown in the figure, the calculation formula of the center height H of the whole machine is:

[0065]

[0066] Among them, r is the distance between the auxiliary mass block suspension point and the buoyancy center (central axis), M is the total mass of the glider (without wings), m is the mass of the auxiliary mass block, and θ represents the angle of rotation of the glider (roll angle).

[0067] In this step, specifically, when calculating the whole machine metacentric height H, multiple calculations can be averaged to make the calculation result more accurate. The auxiliary mass block includes multiple auxiliary blocks with different masses, and multiple different auxiliary blocks are used for calculation. The metacentric height of each corresponding glider is determined according to the mass of each auxiliary block, each rotation angle and the total mass of the whole machine, and then the average of the multiple metacentric heights is calculated to obtain the metacentric height of the whole machine.

[0068] In a feasible implementation, taking three auxiliary blocks as an example, the specific steps of step 23 include: step 231-step 234:

[0069] Step 231, hang the first auxiliary block on the left wing fixing frame of the glider, record the first rotation angle, and determine the first metacentric height of the glider according to the mass of the first auxiliary block, the first rotation angle and the total mass of the whole machine. In this step, the calculation is performed according to Formula 1, where m is the mass of the first auxiliary block and θ represents the first rotation angle.

[0070] Step 232, hang the second auxiliary block on the left wing fixing frame of the glider, and determine the second metacentric height of the glider according to the mass of the second auxiliary block, the second rotation angle and the total mass of the whole glider. In this step, the calculation is performed according to Formula 1, where m is the mass of the second auxiliary block and θ represents the second rotation angle.

[0071] Step 233, hang the third auxiliary block on the left wing fixing frame of the glider, and determine the third metacentric height of the glider according to the mass of the third auxiliary block, the third rotation angle and the total mass of the whole glider. In this step, calculation is performed according to Formula 1, where m is the mass of the third auxiliary block and θ is the third rotation angle.

[0072] Step 234, calculate the average of the first metacentric height, the second metacentric height and the third metacentric height to obtain the metacentric height of the whole machine. Here, the first metacentric height, the second metacentric height and the third metacentric height are summed and then divided by three to obtain the average of the metacentric height of the whole machine.

[0073] Step 24, remove the auxiliary mass block and make the glider still and stable.

[0074] Step 25, control the battery pack to rotate, and determine the eccentricity ratio of the eccentric mass block of the attitude adjustment module to the current first eccentricity value a of the whole machine and the eccentricity ratio of the mass outside the eccentric mass block to the current second eccentricity value b of the whole machine according to the roll angle of the battery pack and the roll angle of the whole machine.

[0075] In this step, when the eccentric mass block of the attitude adjustment module rolls 0 degrees and the deflection angle of the whole machine is 0 degrees, a+b=H (Formula 2), the battery pack is controlled to rotate, the roll angle is β degrees, and the roll angle of the whole machine is recorded as α degrees. Figure 5 It can be seen that f is the resultant force of a and b, b = a*sin(β-α) / sin(α) (Formula 3), β is the angle between a and b, and α is the angle between b and f. Therefore, according to a+b=H and b=a*sin(β-α) / sin(α), a and b can be calculated.

[0076] Here, multiple calculations can also be performed, and the average value is finally calculated to obtain a and b. The specific steps of the multiple calculations include: controlling the battery pack to rotate multiple times, and determining the eccentricity ratio of the eccentric mass block of the attitude adjustment module each time as the first eccentricity value of the current whole machine and the eccentricity ratio of the mass other than the eccentric mass block each time as the second eccentricity value of the current whole machine according to the roll angle of the battery pack and the roll angle of the whole machine each time; then calculating the average value of the current first eccentricity value of the whole machine for multiple times as the first eccentricity value of the current whole machine, and calculating the average value of the current second eccentricity value of the whole machine for multiple times as the second eccentricity value of the current whole machine.

[0077] In a feasible implementation, for example, the battery pack is controlled to rotate three times, and the specific steps of step 25 include steps 251 to 253:

[0078] Step 251, control the battery pack to turn left by β=20 degrees, record the whole machine roll angle α, and calculate the current first eccentricity value and the current second eccentricity value of the whole machine according to Formula 2 and Formula 3.

[0079] Step 252, control the battery pack to turn left β=40 degrees, record the whole machine roll angle α, and calculate the current first eccentricity value and the current second eccentricity value of the whole machine according to Formula 2 and Formula 3.

[0080] Step 253, control the battery pack to turn left by β=60 degrees, record the whole machine roll angle α, and calculate the current first eccentricity value and the current second eccentricity value of the whole machine according to Formula 2 and Formula 3.

[0081] Step 254, sum up the current first eccentricity values ​​of the whole machine in steps 251, 252 and 253 for three times and divide the sum by three to obtain the average as the current first eccentricity value of the whole machine, sum up the current second eccentricity values ​​of the whole machine in steps 251, 252 and 253 for three times and divide the sum by three to obtain the average as the current second eccentricity value of the whole machine.

[0082] Step 26, determining the adjustment weight and adjustment direction according to the current first eccentricity value of the whole machine and the current second eccentricity value of the whole machine. In this step, the calculation formula of the adjustment weight D is:

[0083] D = (ab) * M / L (Formula 4);

[0084] Among them, a represents the current first eccentricity value of the whole machine, b represents the current second eccentricity value of the whole machine, M represents the total mass of the whole machine, and L represents the distance between the center of gravity of an external adjustment mass block on the upper side of the glider and the center of gravity of an external adjustment mass block on the lower side of the opposite glider.

[0085] Here, if Figure 6As shown, the glider is provided with a plurality of external adjustment mass blocks, which can be used for balancing and adjusting the metacentric height. For example, the upper and lower sides of the horizontally placed glider are respectively provided with a plurality of movable external adjustment mass blocks. After placement, L is a known constant. The mass sizes of these external adjustment mass blocks can be the same or different. By adjusting the external adjustment mass blocks on the upper or lower side to the lower or upper side, the mass eccentricity ratio of the eccentric mass block to the second eccentricity value of the whole machine can be adjusted, that is, the above-mentioned b value, so that the eccentricity ratio of the eccentric mass block of the attitude adjustment module to the first eccentricity value of the whole machine (that is, the above-mentioned a) can be equal to the second eccentricity value of the whole machine (that is, the above-mentioned b), that is, the eccentricity ratio of the eccentric mass block of the attitude adjustment module to the first eccentricity value of the whole machine is half of the metacentric height of the whole machine. Therefore, according to the relationship between the moment and the lever arm of formula 4, the adjustment weight and adjustment direction can be calculated. The absolute value of D represents the adjustment weight, and the positive and negative of D represent the adjustment direction. After adjustment, a=b.

[0086] Step 27, adjusting the external adjustment mass block according to the adjustment weight and the adjustment direction, so that the eccentricity ratio of the eccentric mass block of the posture adjustment module is half of the first eccentricity value of the whole machine.

[0087] In this step, if b is greater than a, it means that the external adjustment mass block is placed too low, and the external adjustment mass block on the lower side needs to be placed on the upper side. At this time, formula four calculates a negative value, otherwise, formula four calculates a positive value, and the absolute value of D is the amount of weight that needs to be moved.

[0088] Specifically, the specific steps of step 27 include step 271-step 272:

[0089] Step 271: If the adjustment weight is a positive value, the external adjustment mass block having a weight equal to the absolute value of the adjustment weight D on the upper side of the glider is moved to the lower side of the glider.

[0090] Step 272: If the adjustment weight is a negative value, the external adjustment mass block with a weight equal to the absolute value of the adjustment weight D on the lower side of the glider is moved to the upper side of the glider. For example, if D=1.5 kg is calculated, the external adjustment mass block with a weight of 1.5 kg on the upper side is moved to the lower side of the glider.

[0091] In this embodiment, the current first eccentricity value and the current second eccentricity value of the whole machine are determined by rotating the battery pack, and then the weight and direction to be adjusted are calculated based on the current first eccentricity value and the current second eccentricity value of the whole machine. After adjustment, the eccentricity of the eccentric mass block of the attitude adjustment module is half of the first eccentricity value of the whole machine. The adjustment method of the present invention can determine the specific adjustment weight and direction, so that the adjustment result is more accurate, and the accuracy of the attitude adjustment of the glider in the underwater working mode is improved.

[0092] In this embodiment, after the adjustment is completed, the attitude adjustment module of the glider can make the underwater glider have a gliding mode and a profile buoy mode. When the eccentric mass block of the attitude adjustment module is eccentrically designed, it is considered that the eccentric proportion of the eccentric mass block to the entire underwater glider is the same as the eccentric proportion of the center of gravity of the underwater glider excluding the eccentric mass block, and the buoyancy center of the underwater glider is on the axis. In the gliding mode, the eccentric mass block of the roll adjustment mechanism of the attitude adjustment module only rotates between plus and minus 90 degrees, and the center of gravity is below the buoyancy center. The heading adjustment in the gliding mode is achieved by adjusting left and right. When the underwater glider switches to the profile buoy mode, the main control controls the attitude adjustment module to rotate the eccentric mass block 180 degrees. At this time, the eccentricity ratio of the eccentric mass block to the entire underwater glider is the same as the eccentricity ratio of the center of gravity of the underwater glider excluding the eccentric mass block, but in opposite directions. The center of gravity of the glider is adjusted on the axis, and the center of gravity and center of buoyancy are collinear in the horizontal direction. Then, the energy module is adjusted to the front limit by adjusting the pitch adjustment mechanism. At this time, the center of gravity of the underwater glider is in front of the center of buoyancy, and the center of gravity and center of buoyancy are both on the axis. The underwater glider is adjusted to be vertical to the water surface with the head facing downward. Then, the underwater glider is controlled by the buoyancy system to realize the profile buoy working mode.

[0093] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for adjusting the metacentric height of an underwater glider, characterized in that: The following steps are involved: Balance the glider and weigh the total mass of the glider; Put two nooses on the nose and tail of the glider and fish the glider below the water surface in the pool; Suspending an auxiliary mass block on one side of the glider, and determining the metacentric height of the glider according to the mass of the auxiliary mass block, the rotation angle of the glider and the total mass of the glider; removing the auxiliary mass block and making the glider stationary and stable; Control the battery pack to rotate, and determine the eccentricity of the eccentric mass block of the posture adjustment module as a first eccentricity value of the current whole machine and the eccentricity of the mass other than the eccentric mass block as a second eccentricity value of the current whole machine according to the rolling angle of the battery pack and the rolling angle of the whole machine; Determine the adjustment weight and adjustment direction according to the current first eccentricity value of the whole machine and the current second eccentricity value of the whole machine; The external adjustment mass block is adjusted according to the adjustment weight and the adjustment direction, so that the eccentricity ratio of the eccentric mass block of the posture adjustment module is half of the first eccentricity value of the whole machine.

2. The method according to claim 1, characterized in that The auxiliary mass block includes a plurality of auxiliary blocks with different masses; The method of suspending the auxiliary mass block on one side of the glider and determining the metacentric height of the glider according to the mass of the auxiliary mass block, the rotation angle of the glider and the total mass of the glider comprises: Each auxiliary block is suspended on one side of the glider, and each metacentric height of the glider is determined according to the mass of each auxiliary block, each rotation angle and the total mass of the whole glider; Calculate the average of multiple metacentric heights to get the metacentric height of the whole machine.

3. The method according to claim 1, characterized in that The control of the battery pack rotation, according to the rolling angle of the battery pack and the rolling angle of the whole machine, determines the eccentricity of the eccentric mass block of the posture adjustment module to account for the current first eccentricity value of the whole machine and the eccentricity of the mass other than the eccentric mass block to account for the current second eccentricity value of the whole machine, including: Manipulate the battery pack to rotate multiple times; According to the rolling angle of each rotation of the battery pack and the rolling angle of the whole machine, determine the proportion of the eccentric mass block of the attitude adjustment module to the current first eccentricity value of the whole machine and the proportion of the mass eccentricity other than the eccentric mass block to the current second eccentricity value of the whole machine; Calculate the average value of the eccentricity ratio of the eccentric mass block of the posture adjustment module to the current first eccentricity value of the whole machine for multiple times, and use it as the current first eccentricity value of the whole machine; The average value of the mass eccentricity other than the eccentric mass block to the current second eccentricity value of the whole machine is calculated multiple times as the current second eccentricity value of the whole machine.

4. The method according to claim 1, characterized in that The adjusting the external adjustment mass block according to the adjustment weight and the adjustment direction comprises: If the adjustment weight is a positive value, moving the external adjustment mass block having a weight equal to the absolute value of the adjustment weight on the upper side of the glider to the lower side of the glider; If the adjustment weight is a negative value, the external adjustment mass block whose weight is the absolute value of the adjustment weight on the lower side of the glider is moved to the upper side of the glider.

5. The method according to claim 4, characterized in that The calculation formula of the adjustment weight D is: D=(ab)*M / L Among them, a represents the first eccentricity value of the current whole machine, b represents the second eccentricity value of the current whole machine, M represents the total mass of the whole machine, and L represents the distance between the center of gravity of an external adjustment mass block on the upper side of the glider and the center of gravity of an external adjustment mass block on the lower side of the glider.

6. The method according to claim 2, characterized in that The number of the auxiliary blocks is three, namely, a first auxiliary block, a second auxiliary block and a third auxiliary block; the rotation angles include: a first rotation angle, a second rotation angle and a third rotation angle; The method of suspending the auxiliary mass block on one side of the glider and determining a plurality of metacentric heights of the glider according to the mass of each auxiliary mass, each rotation angle and the total mass of the whole glider comprises: The first auxiliary block is suspended on the left wing fixing frame of the glider, and a first metacentric height of the glider is determined according to the mass of the first auxiliary block, the first rotation angle and the total mass of the whole glider; The second auxiliary block is suspended on the left wing fixing frame of the glider, and the second metacentric height of the glider is determined according to the mass of the second auxiliary block, the second rotation angle and the total mass of the whole glider; The third auxiliary block is suspended on the left wing fixing frame of the glider, and the third metacentric height of the glider is determined according to the mass of the third auxiliary block, the third rotation angle and the total mass of the whole glider; The calculating the average value of the plurality of metacentric heights to obtain the metacentric height of the whole machine includes: An average value of the first metacentric height, the second metacentric height and the third metacentric height is calculated to obtain the whole machine metacentric height.

7. The method according to claim 3, characterized in that The battery pack is controlled to rotate three times.

8. The method according to claim 1, characterized in that A plurality of movable external adjustment mass blocks are respectively arranged on both sides of the glider.

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