Wave glider motion forecasting method based on test and method for optimizing design parameters

Abstract

The invention discloses a wave glider motion forecasting method based on tests and a method for optimizing design parameters, and the method comprises the following steps: carrying out the assignment of the initial speeds and initial positions of a floating body and an underwater tractor, and obtaining the tension and resistance of an umbilical cable in an initial state through an umbilical cable dynamics formula; obtaining the speed of the floating body when the tension of the umbilical cable is brought into the floating body dynamic model; when the tension and the resistance of the umbilical cable are substituted into the kinetic equation of the underwater tractor, the speed of the underwater tractor is obtained; integrating the speed of the floating body and the speed of the underwater tractor to obtain displacement parameters, obtaining coordinate parameters through the displacement parameters, and substituting the coordinate parameters into an umbilical cable dynamic formula to solve the tension and resistance of the umbilical cable; and introducing the tension of the umbilical cable into the floating body dynamic model, introducing the tension and resistance of the umbilical cable into the underwater tractor dynamic model, and repeating the steps to forecast the motion of the wave glider. The precision of the simulation model can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of wave glider motion research, and in particular to a wave glider motion prediction method based on experiments and a method for optimizing design parameters. Background Art

[0002] A wave glider is an unmanned autonomous surface vehicle that relies on wave energy for propulsion. It consists of a float, an umbilical cable, and an underwater tractor. When a wave glider moves in a complex marine environment, its movement is affected by waves and ocean currents. Through simulation modeling, we can predict the impact of these factors on the motion performance of the wave glider, thereby optimizing its design and operation strategy, and ensuring the stability and navigation efficiency of the wave glider in various sea conditions.

[0003] Although there are some motion prediction methods for wave gliders, the existing prediction methods still have certain limitations, mainly reflected in the inability to accurately simulate the strong nonlinear characteristics of the underwater tractor and the umbilical cable under fluid interaction. The currently developed wave glider motion simulation models rely on simplified assumptions or lack comprehensive experimental verification, which limits their accuracy and applicability in real scenarios. In view of the limitations of the existing wave glider motion prediction technology, the present invention proposes a wave glider motion prediction method based on experiments. Summary of the invention

[0004] On one hand, the present invention provides a method for predicting the motion of a wave glider based on an experiment, thereby improving the accuracy of a simulation model. On the other hand, the present invention provides a method for optimizing the design parameters of a wave glider.

[0005] A first aspect of the present invention provides a wave glider motion prediction method based on an experiment, comprising the following steps: Assign values ​​to the speed and position coordinates of the floating body and underwater tractor in a static state, and obtain the umbilical cable tension and umbilical cable resistance in a static state through the umbilical cable dynamics formula; The umbilical cable tension in the static state is brought into the floating body dynamic equation to obtain the floating body velocity at the first moment; The actual swing angle of the wing plate in a static state is obtained by using the moment balance equation of the wing plate; The nonlinear relationship between the lift resistance and the wing plate swing angle of the underwater tractor is obtained through the underwater tractor lift resistance characteristic test, and a wing plate swing angle-lift resistance relationship table of the underwater tractor is prepared. The lift resistance of the underwater tractor corresponding to the actual swing angle of the wing plate in a static state is obtained through the wing plate swing angle-lift resistance relationship table of the underwater tractor; The umbilical cable tension and umbilical cable resistance at rest, and the lift resistance of the underwater tractor at rest are brought into the underwater tractor dynamics equation to obtain the speed of the underwater tractor at the first moment: The velocity of the floating body obtained at the first moment is integrated to obtain the displacement parameter of the floating body at the first moment, the velocity of the underwater tractor obtained at the first moment is integrated to obtain the displacement parameter of the underwater tractor at the first moment, and the coordinate parameters of the floating body and the coordinate parameters of the underwater tractor at the first moment are obtained by combining the position coordinates of the floating body and the underwater tractor in the static state, and the coordinate parameters of the floating body and the coordinate parameters of the underwater tractor at the first moment and the velocity of the floating body at the first moment are brought into the umbilical cable dynamics formula to solve the umbilical cable tension and resistance at the first moment; Repeat the previous step until the speed of the floating body, the speed of the underwater tractor, the coordinate parameters of the floating body, the coordinate parameters of the underwater tractor, and the tension and resistance of the umbilical cable at all times are obtained; The motion of the wave glider is predicted using the speed of the float at all times, the speed of the underwater tractor, the coordinate parameters of the float, the coordinate parameters of the underwater tractor, the tension and resistance of the umbilical cable, the actual swing angle of the wing, and the lift and resistance of the underwater tractor corresponding to the actual swing angle of the wing.

[0006] In the experimentally-based wave glider motion prediction method, preferably, the umbilical cable dynamics formula is: (1) (2) in, is the umbilical cable tension; is the umbilical cable resistance; is the umbilical cable stiffness; is the distance between the buoy and the underwater tractor; is the length of the umbilical cable; is the weight of the underwater tractor; is the buoyancy of the underwater tractor; is the velocity of the floating body at the first moment.

[0007] In the experimentally-based wave glider motion prediction method, preferably, the floating body dynamics equation is: (3) (4) in, is the inertia matrix of the floating body; is the additional mass force of the floating body; is the centripetal force and Coriolis force matrix of the floating body; is the centripetal force and Coriolis force matrix of the additional mass force of the floating body; is the damping matrix of the floating body; are the forces and moments caused by the gravity and buoyancy of the floating body; is the force exerted by the umbilical cable on the buoy; It is the wave force of the floating body.

[0008] In the experimentally-based wave glider motion prediction method, preferably, the underwater tractor dynamic equation is: (5) (6) in, is the inertia matrix of the underwater tractor; is the additional mass force of the underwater tractor; is the centripetal force and Coriolis force matrix of the underwater tractor; is the centripetal force and Coriolis force matrix of the added mass force of the underwater tractor; is the damping matrix of the underwater tractor; It is the force and moment caused by the gravity and buoyancy of the underwater tractor; is the force exerted by the umbilical cable on the underwater tractor; is the speed of the underwater tractor; It is the lift resistance of the underwater tractor.

[0009] In the experimentally-based wave glider motion prediction method, preferably, the moment balance equation of the wing plate is: (7) (8) (9) (10) (11) (12) (13) (14) in, is the resultant moment acting on the wing plate; are the gravity moment and buoyancy moment of the wing; is the lift moment of the wing; is the drag moment of the wing; is the spring force moment of the wing; is the limiting force moment of the wing plate; is the damping force moment of the wing; is the moment of inertia of the wing; is the gravity arm; is the hydrodynamic lever; is the spring force arm; It is the limit force arm; is the wing mass; is the acceleration due to gravity; is the buoyancy of the foil; is the wing lift; is the wing resistance; is the spring force of the wing; is the inclination angle of the wing panel attachment point; is the spring deformation during the wing swing process; is the spring stiffness of the wing; is the limiting force of the wing plate; It is the damping force during the wing swing process.

[0010] A second aspect of the present invention provides a method for optimizing the design parameters of a wave glider, based on the experimental wave glider motion prediction method, the optimization method comprises the following steps: First, select the target sea condition and set the corresponding wave parameters in the floating body dynamics equation; According to the existing design parameters of the wave glider, corresponding parameter items are set in the floating body dynamics equation, underwater tractor dynamics equation, umbilical cable dynamics formula and the moment balance equation of the wing plate; For the springs at the wing plates of the underwater tractor, different spring parameters are selected; Use SIMULINK to carry out simulation through the floating body dynamics equation, underwater tractor dynamics equation, umbilical cable dynamics formula and wing plate moment balance equation to obtain the motion data of the wave glider under the corresponding sea conditions and corresponding spring parameters; The target sea conditions and spring parameters were changed in sequence, and simulations were carried out to obtain the motion data of the wave glider under different working conditions; By comparing the simulation results and optimizing them, we can obtain the spring design parameters that optimize the propulsion performance of the wave glider.

[0011] In the method for optimizing the design parameters of a wave glider, preferably, the wave parameters are wave height and period.

[0012] In the method for optimizing the design parameters of a wave glider, preferably, the parameter items include geometric parameters of the float, geometric parameters of the umbilical cable, geometric parameters of the underwater tractor, initial velocity and initial coordinates of the float, initial velocity and initial coordinates of the underwater tractor, stiffness of the umbilical cable, and parameters of the spring.

[0013] In the method for optimizing the design parameters of a wave glider, preferably, the parameters of the spring include the hanging point position, the spring pretension and the spring stiffness.

[0014] The beneficial effects are: The test data directly obtained through the experimental method can directly reflect the hydrodynamic characteristics of the real underwater tractor, avoid the errors caused by simplified assumptions, and ensure the accuracy of the model parameters.

[0015] Since the resistance performance of the umbilical cable directly affects the navigation efficiency of the wave glider, using accurate umbilical cable resistance parameters in the modeling process can greatly improve the accuracy of the wave glider motion simulation model.

[0016] The whole simulation model of wave glider is established by Matlab-Simulink software. The present invention proposes a wave glider motion modeling method based on test data to ensure the accuracy of the wave glider motion model.

[0017] By conducting verification tests, the reliability of the modeling method can be directly verified, and the credibility of the method can be enhanced, so that the modeling method proposed in the present invention is no longer limited to the qualitative research level of the speed of the wave glider like the existing methods, but the research dimension is raised to the quantitative level.

[0018] A wing plate elasticity module is added to the modeling method proposed in the present invention, so that the model can be used to directly study the influence of the elastic parameters of the wing plate on the motion performance of the wave glider.

[0019] The present invention establishes a complete experimental-based wave glider motion prediction method. The simulation model established based on the hydrodynamic parameters of the umbilical cable and the underwater tractor obtained from the experiment can improve the accuracy of the simulation model. At the same time, the wave glider motion test can verify the simulation model, thereby proving the reliability of the simulation model. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the process of the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0022] The present invention provides a method for predicting the motion of a wave glider based on an experiment, which is characterized by comprising the following steps: The initial speed of the floating body and the speed of the underwater tractor are assigned to 0 respectively, and the initial position coordinates of the floating body and the underwater tractor are assigned according to the actual situation. The umbilical cable tension and umbilical cable resistance in the initial state are obtained through the umbilical cable dynamics formula; the floating body speed Integrate to obtain the displacement parameters of the floating body and the speed of the underwater tractor The displacement parameters of the underwater tractor are obtained by integration, and the coordinate parameters of the floating body and the underwater tractor are obtained by combining the initial position coordinates assigned to the floating body and the underwater tractor at the initial moment. The coordinate parameters of the floating body and the coordinate parameters of the underwater tractor are substituted into the umbilical cable dynamics formula to solve the umbilical cable tension and resistance; the umbilical cable tension is brought into the floating body dynamics model to obtain the speed of the floating body at the next moment, and the umbilical cable tension and umbilical cable resistance are brought into the underwater tractor dynamics equation to obtain the speed of the underwater tractor at the next moment, and the obtained speed is integrated to obtain Take the coordinate parameters of the floating body and the coordinate parameters of the underwater tractor, substitute the coordinate parameters of the floating body and the coordinate parameters of the underwater tractor into the umbilical cable dynamics formula, and solve the umbilical cable tension and resistance again; repeat the above steps to obtain the speed of the floating body and the speed of the underwater tractor at all times, and use the floating body dynamics model, the umbilical cable dynamics formula and the underwater tractor dynamics equation to calculate the swing angle of the wing plate, the posture and tension of the umbilical cable, and the lift and resistance of the underwater tractor during the movement change of the wave glider under different wave parameters, so as to predict the movement of the wave glider. The present invention establishes a complete wave glider motion prediction method based on experiments. The simulation model established based on the hydrodynamic parameters of the umbilical cable and the underwater tractor obtained by the experiment can improve the accuracy of the simulation model. At the same time, the wave glider motion test can verify the simulation model, thereby proving the reliability of the simulation model.

[0023] The whole technical process is elaborated in detail below, taking an experimental-based wave glider motion prediction method as an example.

[0024] Example 1 like Figure 1 As shown, a wave glider motion prediction method based on an experiment comprises the following steps: S1: Assign the speed and position coordinates of the floating body and the underwater tractor in the static state, and obtain the umbilical cable tension and umbilical cable resistance in the static state through the umbilical cable dynamics formula; (1) (2) in, is the umbilical cable tension; is the umbilical cable resistance; The specific acquisition method is: conduct an umbilical cable resistance characteristic test through the patent application number 202410800626.4 "A hydrodynamic performance test device and method for a flexible umbilical cable for a wave glider", obtain the corresponding umbilical cable resistance under different umbilical cable tensions and umbilical cable speeds, establish a resistance characteristic database, and then and By querying the resistance characteristic database, the corresponding .

[0025] is the umbilical cable stiffness, which is set according to actual physical parameters.

[0026] It is the distance between the floating body and the underwater tractor, which is calculated from the displacement parameters of the floating body and the underwater tractor. is the length of the umbilical cable, is the weight of the underwater tractor, It is the buoyancy of the underwater tractor, which is set according to physical parameters.

[0027] is the speed of the umbilical cable, which is related to the floating body speed same; is the velocity of the floating body.

[0028] S2: Bring the umbilical cable tension in the static state into the floating body dynamics equation to obtain the floating body velocity at the first moment, (3) (4) in, is the vector of the force exerted by the umbilical cable on the buoy, including the forces in the x, y, and z directions. Since the wave glider is symmetrical about the x and z planes, the force in the y direction of the umbilical cable is 0. Since the force exerted on the umbilical cable in the x direction is resistance, and the underwater tractor is the power component of the wave glider, the resistance of the umbilical cable is defined in the motion equation of the underwater tractor. Therefore, the composition of the force exerted by the umbilical cable on the buoy is as described in formula (4).

[0029] is the inertia matrix of the floating body, is the additional mass force of the floating body, is the centripetal force and Coriolis force matrix of the floating body, is the centripetal force and Coriolis force matrix of the additional mass force of the floating body, is the damping matrix of the floating body, is the force and moment caused by the gravity and buoyancy of the floating body. The above parameters are obtained through empirical formulas. is the force exerted by the umbilical cable on the buoy, It is the wave force of the floating body, which is obtained based on the hydrodynamic parameters of the floating body calculated by AQWA software. That is, the wave force of the floating body can be obtained by inputting the wave height, period and basic hydrodynamic parameters of the floating body in Simulink.

[0030] is the velocity of the floating body.

[0031] S3: Use the moment balance equation of the wing plate to obtain the swing angle of the actual wing plate of the underwater tractor in a static state. The moment balance equation of the wing plate is: (7) (8) (9) (10) (11) (12) (13) (14) in, is the resultant moment acting on the flange, is the gravitational moment and buoyancy moment of the wing, is the lift moment of the wing, is the drag moment of the wing, is the spring force moment of the wing, is the limiting force moment of the wing plate, is the damping force moment of the wing, is the moment of inertia of the wing plate, and the above data are obtained according to the solution formula or empirical formula in the prior art; is the gravity arm, which is the actual parameter of the wing plate; is the hydrodynamic force arm, which is the actual parameter of the wing plate; is the spring force arm, which is the actual parameter of the wing plate; is the limit force arm, which is the actual parameter acquisition of the wing plate; is the wing mass, is the acceleration due to gravity, is the buoyancy of the wing plate, and the above data are actual measured values; is the wing lift, It is the wing resistance, which is determined by the lift resistance obtained from the underwater tractor lift resistance characteristic test and the swing angle of the actual wing of the underwater tractor. Among them, the device and method used in the underwater tractor lift resistance characteristic test adopt the device and method disclosed in the patent application number 202311160247.5 "A wave glider underwater tractor lift resistance measurement device and method".

[0032] is the spring force of the wing; is the inclination angle of the wing panel hanging point, which is obtained according to the actual swing position of the wing panel; is the spring deformation during the wing plate swing process, which is obtained according to the actual swing position of the wing plate; is the spring stiffness of the wing plate, which is selected according to the actual spring design; is the limiting force of the wing plate, which is selected according to the actual design parameters; It is the damping force during the wing panel swinging process and is selected according to the actual design parameters.

[0033] S4: Obtain the nonlinear relationship between lift resistance and the wing plate swing angle of the underwater tractor through the underwater tractor lift resistance characteristic test, and make a relationship table of the wing plate swing angle-lift resistance of the underwater tractor. Obtain the lift resistance of the underwater tractor corresponding to the actual swing angle of the wing plate in a static state through the relationship table of the wing plate swing angle-lift resistance of the underwater tractor. Among them, the device and method of the underwater tractor lift resistance characteristic test adopt the device and method of the patent "A wave glider underwater tractor lift resistance measurement device and method" with application number 202311160247.5.

[0034] S5: Substitute the umbilical cable tension and umbilical cable resistance at rest and the lift resistance of the underwater tractor at rest into the underwater tractor dynamics equation to obtain the speed of the underwater tractor at the first moment: (5) (6) in, is the vector of the force exerted by the umbilical cable on the underwater tractor, including forces in the x, y, and z directions. Since the wave glider is symmetrical about the XZ plane, the force in the y direction of the umbilical cable is 0. Since the force exerted on the umbilical cable in the x direction is resistance, and the underwater tractor is the power component of the wave glider, the resistance of the umbilical cable is defined in the motion equation of the underwater tractor. Since the umbilical cable is located between the upper buoy and the lower underwater tractor, the z-direction force exerted by the umbilical cable on the underwater tractor is equal in magnitude and opposite in direction. Therefore, the composition of the force exerted by the umbilical cable on the underwater tractor is as described in formula (6).

[0035] is the inertia matrix of the underwater tractor, obtained through empirical formula; is the additional mass force of the underwater tractor, obtained through empirical formula; is the centripetal force and Coriolis force matrix of the underwater tractor, obtained by empirical formula; is the centripetal force and Coriolis force matrix of the additional mass force of the underwater tractor, obtained by empirical formula; It is the damping matrix of the underwater tractor, which is directly obtained through the lift and drag characteristic test of the underwater tractor. That is, this item is directly included in the lift and drag coefficient of the underwater tractor, and no additional solution is required; It is the force and moment caused by the gravity and buoyancy of the underwater tractor, obtained by empirical formula; is the force exerted by the umbilical cable on the underwater tractor; is the speed of the underwater tractor; is the lift resistance of the underwater tractor, obtained by the method of step S4.

[0036] S6: Integrate the velocity of the floating body at the first moment obtained in step S2 to obtain the displacement parameters of the floating body, integrate the velocity of the underwater tractor at the first moment obtained in step S5 to obtain the displacement parameters of the underwater tractor, and combine the position coordinates of the floating body and the underwater tractor in a stationary state to obtain the coordinate parameters of the floating body and the coordinate parameters of the underwater tractor at the first moment, bring the coordinate parameters of the floating body at the first moment and the coordinate parameters of the underwater tractor at the first moment into the umbilical cable dynamics formula, and solve the umbilical cable tension and umbilical cable resistance at the first moment.

[0037] S7: The umbilical cable tension at the first moment in step S6 is again introduced into the floating body dynamics equation to obtain the speed of the floating body at the second moment, the umbilical cable tension and the umbilical cable resistance at the first moment in step S6 are again introduced into the underwater tractor dynamics equation to obtain the speed of the underwater tractor at the second moment, and the speed of the floating body and the speed of the underwater tractor at the second moment are integrated to obtain the coordinate parameters of the floating body and the coordinate parameters of the underwater tractor at the second moment respectively, the coordinate parameters of the floating body and the coordinate parameters of the underwater tractor are introduced into the umbilical cable dynamics formula, and the umbilical cable tension and the umbilical cable resistance at the second moment are solved again. Step S7 is repeated until the speed of the floating body, the speed of the underwater tractor, the coordinate parameters of the floating body, the coordinate parameters of the underwater tractor, the umbilical cable tension and the umbilical cable resistance from the third moment to the Nth moment are obtained.

[0038] S8: The motion of the wave glider is predicted by utilizing the speed of the floating body at all times, the speed of the underwater tractor, the coordinate parameters of the floating body, the coordinate parameters of the underwater tractor, the tension and resistance of the umbilical cable, the actual swing angle of the wing plate, and the lift and resistance of the underwater tractor corresponding to the actual swing angle of the wing plate.

[0039] That is, the swing angle of the wing plate during the movement change of the wave glider under different wave parameters is obtained through the actual swing angle of the wing plate at all times, and the posture of the umbilical cable is obtained through the coordinate parameters of the float and the coordinate parameters of the underwater tractor.

[0040] Example 2 A method for optimizing design parameters of a wave glider includes formulas (1) to (14) in the experimental-based wave glider motion prediction method described in Example 1, and specifically includes the following steps: S1: First, select the target sea condition and set the corresponding wave parameters in the floating body dynamics equation; wherein the wave parameters are wave height and period.

[0041] S2: According to the existing design parameters of the wave glider, corresponding parameter items are set in the floating body dynamics equation, the underwater tractor dynamics equation, the umbilical cable dynamics formula and the moment balance equation of the wing plate; wherein the parameter items include the geometric parameters of the floating body, the geometric parameters of the umbilical cable, the geometric parameters of the underwater tractor, the initial velocity and initial coordinates of the floating body, the initial velocity and initial coordinates of the underwater tractor, the stiffness of the umbilical cable and the parameters of the spring.

[0042] S3: For the spring at the wing plate of the underwater tractor, different spring parameters are selected; wherein the spring parameters include the hanging point position, spring pretension and spring stiffness.

[0043] S4: Use SIMULINK to carry out simulation through the floating body dynamics equation, underwater tractor dynamics equation, umbilical cable dynamics formula and wing moment balance equation to obtain the motion data of the wave glider under the corresponding sea conditions and corresponding spring parameters; S5: changing the target sea conditions and spring parameters in turn, carrying out simulations, and obtaining the motion data of the wave glider under different working conditions; S6: Compare the simulation results and optimize them to obtain the spring design parameters that optimize the propulsion performance of the wave glider.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wave glider motion prediction method based on experiments, characterized in that: The steps include: Assign values ​​to the speed and position coordinates of the floating body and underwater tractor in a static state, and obtain the umbilical cable tension and umbilical cable resistance in a static state through the umbilical cable dynamics formula; The umbilical cable tension in the static state is brought into the floating body dynamic equation to obtain the floating body velocity at the first moment; The actual swing angle of the wing plate in a static state is obtained by using the moment balance equation of the wing plate; The nonlinear relationship between the lift resistance and the wing plate swing angle of the underwater tractor is obtained through the lift resistance characteristic test of the underwater tractor, and a relationship table of the wing plate swing angle-lift resistance of the underwater tractor is prepared. The lift resistance of the underwater tractor corresponding to the actual swing angle of the wing plate in a static state is obtained through the relationship table of the wing plate swing angle-lift resistance of the underwater tractor; The umbilical cable tension and umbilical cable resistance at rest, and the lift resistance of the underwater tractor at rest are brought into the underwater tractor dynamics equation to obtain the speed of the underwater tractor at the first moment: The velocity of the floating body obtained at the first moment is integrated to obtain the displacement parameter of the floating body at the first moment, the velocity of the underwater tractor obtained at the first moment is integrated to obtain the displacement parameter of the underwater tractor at the first moment, and the coordinate parameters of the floating body and the coordinate parameters of the underwater tractor at the first moment are obtained by combining the position coordinates of the floating body and the underwater tractor in the static state, and the coordinate parameters of the floating body and the coordinate parameters of the underwater tractor at the first moment and the velocity of the floating body at the first moment are brought into the umbilical cable dynamics formula to solve the umbilical cable tension and resistance at the first moment; Repeat the previous step until the speed of the floating body, the speed of the underwater tractor, the coordinate parameters of the floating body, the coordinate parameters of the underwater tractor, and the tension and resistance of the umbilical cable at all times are obtained; The motion of the wave glider is predicted using the speed of the float at all times, the speed of the underwater tractor, the coordinate parameters of the float, the coordinate parameters of the underwater tractor, the tension and resistance of the umbilical cable, the actual swing angle of the wing, and the lift and resistance of the underwater tractor corresponding to the actual swing angle of the wing.

2. The experimentally based wave glider motion prediction method according to claim 1, characterized in that: The umbilical cable dynamics formula is: （1） （2） in, is the umbilical cable tension; is the umbilical cable resistance; is the umbilical cable stiffness; is the distance between the buoy and the underwater tractor; is the length of the umbilical cable; is the weight of the underwater tractor; is the buoyancy of the underwater tractor; is the velocity of the floating body at the first moment.

3. The experimentally based wave glider motion prediction method according to claim 2, characterized in that: The floating body dynamics equation is: （3） （4） in, is the inertia matrix of the floating body; is the additional mass force of the floating body; is the centripetal force and Coriolis force matrix of the floating body; is the centripetal force and Coriolis force matrix of the additional mass force of the floating body; is the damping matrix of the floating body; are the forces and moments caused by the gravity and buoyancy of the floating body; is the force exerted by the umbilical cable on the buoy; It is the wave force of the floating body.

4. The experimentally based wave glider motion prediction method according to claim 3, characterized in that: The dynamic equation of the underwater tractor is: （5） （6） in, is the inertia matrix of the underwater tractor; is the additional mass force of the underwater tractor; is the centripetal force and Coriolis force matrix of the underwater tractor; is the centripetal force and Coriolis force matrix of the added mass force of the underwater tractor; is the damping matrix of the underwater tractor; It is the force and moment caused by the gravity and buoyancy of the underwater tractor; is the force exerted by the umbilical cable on the underwater tractor; is the speed of the underwater tractor; It is the lift resistance of the underwater tractor.

5. The experimentally based wave glider motion prediction method according to claim 4, characterized in that: The moment balance equation of the wing plate is: （7） （8） （9） （10） （11） （12） （13） （14） in, is the resultant moment acting on the wing plate; are the gravity moment and buoyancy moment of the wing; is the lift moment of the wing; is the drag moment of the wing; is the spring force moment of the wing; is the limiting force moment of the wing plate; is the damping force moment of the wing; is the moment of inertia of the wing; is the gravity arm; is the hydrodynamic lever; is the spring force arm; It is the limit force arm; is the wing mass; is the acceleration due to gravity; is the buoyancy of the foil; is the wing lift; is the wing resistance; is the spring force of the wing; is the inclination angle of the wing hanging point; is the spring deformation during the wing swing process; is the spring stiffness of the wing; is the limiting force of the wing plate; It is the damping force during the wing swing process.

6. A method for optimizing the design parameters of a wave glider, characterized in that: Based on the experimental wave glider motion prediction method described in claim 5, the optimization method comprises the following steps: First, select the target sea condition and set the corresponding wave parameters in the floating body dynamics equation; According to the existing design parameters of the wave glider, corresponding parameter items are set in the floating body dynamics equation, underwater tractor dynamics equation, umbilical cable dynamics formula and the moment balance equation of the wing plate; For the springs at the wing plates of the underwater tractor, different spring parameters are selected; Use SIMULINK to carry out simulation through the floating body dynamics equation, underwater tractor dynamics equation, umbilical cable dynamics formula and wing plate moment balance equation to obtain the motion data of the wave glider under the corresponding sea conditions and corresponding spring parameters; The target sea conditions and spring parameters were changed in sequence, and simulations were carried out to obtain the motion data of the wave glider under different working conditions; By comparing the simulation results and optimizing them, we can obtain the spring design parameters that optimize the propulsion performance of the wave glider.

7. The method for optimizing the design parameters of a wave glider according to claim 6, characterized in that: The wave parameters are wave height and period.

8. The method for optimizing the design parameters of a wave glider according to claim 5, characterized in that: The parameter items include geometric parameters of the float, geometric parameters of the umbilical cable, geometric parameters of the underwater tractor, initial speed and initial coordinates of the float, initial speed and initial coordinates of the underwater tractor, stiffness of the umbilical cable and parameters of the spring.

9. The method for optimizing the design parameters of a wave glider according to claim 6, characterized in that: The parameters of the spring include the location of the hanging point, the spring pretension and the spring stiffness.

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