Sail configuration wave glider control system and control method

Abstract

The invention discloses a sail configuration wave glider control system and method, and relates to the field of wave glider control, and the system comprises a sail lower computer node and a meteorological station module; the sail lower computer node is respectively connected with the folding driving module, the rotation driving module, the steering engine driving module, the state data acquisition module and the weather station module; the meteorological station module acquires meteorological data in real time and transmits the meteorological data to the sail lower computer node; the sail lower computer node receives the glider state data and the meteorological data, and determines the action state of the sail configuration wave glider according to the glider state data; calculating a target action state according to the meteorological data and the action state, and generating an automatic control instruction; and folding driving information of the folding driving module, rotation driving information of the rotation driving module and steering engine driving information of the steering engine driving module are adjusted according to the automatic control instruction. The reliability of the sail-shaped wave glider under the severe weather condition can be improved.

Description

Technical Field

[0001] This application relates to the field of wave glider control systems, and in particular to a control system and control method for a sail-configured wave glider. Background Technology

[0002] A wave glider is a novel type of mobile ocean observation platform, mainly composed of a floating hull, an umbilical cable, and a tractor. Utilizing a multi-rigid-body structure formed by these three parts, wave energy is converted into forward propulsion, enabling the wave glider to achieve autonomous navigation over long periods and wide areas. However, in low sea states with small waves, wave gliders suffer from weak power and slow speed. Therefore, referencing the design of unmanned sailboats, a wing-sail system was incorporated, resulting in a novel mobile ocean observation platform—the sail-configured wave glider.

[0003] Compared to traditional wave gliders, sail-configured wave gliders primarily utilize wind power, a renewable marine energy source, to achieve continuous kinetic energy conversion. They also boast higher speeds than traditional wave gliders. The key to the movement of a sail-configured wave glider lies in its wingsail system. However, existing control systems for sail-configured wave gliders only control the pitch angle of the wingsail to adjust the glider's forward speed. This control method is susceptible to damage to the wingsail in adverse weather conditions. Summary of the Invention

[0004] The purpose of this application is to provide a control system and method for a sail-configured wave glider, which can reduce the impact of sail damage caused by weather conditions and improve the reliability of the sail-configured wave glider under adverse weather conditions.

[0005] To achieve the above objectives, this application provides the following solution:

[0006] In a first aspect, this application provides a control system for a sail-configuration wave glider, the control system being used to control a sail-configuration wave glider, the sail-configuration wave glider comprising: a wing sail module, a servo module, and a status data acquisition module;

[0007] The wing sail module includes: a wing sail, a folding drive module, and a rotation drive module; the folding drive module is used to control the folding angle of the wing sail according to the folding drive information; the rotation drive module is used to control the pitch angle of the wing sail according to the rotation drive information; the servo module includes: a servo and a servo drive module; the servo drive module is used to control the rotation angle of the servo according to the servo drive information; the status data acquisition module is used to acquire glider status data; the glider status data includes: the folding drive information, the rotation drive information, and the servo drive information;

[0008] The control system for the sail-configuration wave glider includes: a sail lower-level machine node and a weather station module; the sail lower-level machine node is connected to the folding drive module, the rotation drive module, the servo drive module, the status data acquisition module, and the weather station module, respectively;

[0009] The weather station module is used for:

[0010] Real-time acquisition of meteorological data, and transmission of the meteorological data to the sail lower-level machine node;

[0011] The sail lower-level machine node is used for:

[0012] Receive the glider status data and the meteorological data at the current moment, and determine the action state of the sail-configured wave glider at the current moment based on the glider status data at the current moment; the action state includes: the folding angle of the wing sail, the pitch angle of the wing sail, and the rotation angle of the servo motor.

[0013] The target motion state of the sail-configured wave glider is calculated based on the current meteorological data and the current motion state, and the automatic control command for the current moment is generated based on the current target motion state.

[0014] The folding drive module, the rotation drive module, and the servo drive module adjust their folding drive information, rotation drive information, and servo drive information in the next moment according to the automatic control command at the current moment.

[0015] Optionally, the control system for the sail-configured wave glider further includes: a master control node; the master control node is connected to the sail slave node and the shore station monitoring system respectively;

[0016] The master control node is used for:

[0017] Receive shore station control commands from the shore station monitoring system; the priority of the shore station control commands is higher than the priority of the automatic control commands;

[0018] Send the shore station control command to the sail lower-level machine node;

[0019] The sail-type lower-level machine node is also used for:

[0020] Adjust the folding drive information of the folding drive module, the rotation drive information of the rotation drive module, and the servo drive information of the servo drive module in the next moment according to the current shore station control command.

[0021] The master control node is also used for:

[0022] The system acquires the current motion status of the sail-configured wave glider and sends the current motion status to the shore station monitoring system.

[0023] Optionally, the control system of the sail-configured wave glider further includes: a communication module;

[0024] The master control node is connected to the shore station monitoring system through the communication module.

[0025] Optionally, the master control node is connected to the lower-level machine node of the sail using CAN communication.

[0026] Optionally, the communication module includes at least one of the following: a BeiDou communication module, an Iridium communication module, and a wireless communication module.

[0027] Optionally, the control system of the sail-configuration wave glider further includes a power management module; the power management module is connected to the master control node.

[0028] Optionally, the sail lower-level machine node is connected to the servo drive module, the folding drive module, and the rotation drive module respectively via 485 communication.

[0029] Optionally, the sail lower-level node is connected to the weather station module via RS232 communication.

[0030] Optionally, the status data acquisition module includes: a folding motor angle measurement sensor, a pitch motor angle measurement sensor, and a servo motor angle measurement sensor;

[0031] The folding motor angle measurement sensor is used to collect the folding drive information; the pitch motor angle measurement sensor is used to collect the rotation drive information; and the servo motor angle measurement sensor is used to collect the servo drive information.

[0032] Secondly, this application provides a control method for a sail-configured wave glider, including:

[0033] Acquire the current glider status data and current meteorological data of the sail-configured wave glider; the action status includes: the folding angle of the wing sail, the pitch angle of the wing sail, and the rotation angle of the servo motor;

[0034] The motion state of the sail-configured wave glider at the current moment is determined based on the glider status data at the current moment; the motion state includes: the folding angle of the wing sail, the pitch angle of the wing sail, and the rotation angle of the servo motor.

[0035] The target motion state of the sail-configured wave glider is calculated based on the current meteorological data and the current motion state, and the automatic control command is generated based on the current target motion state.

[0036] Adjust the folding drive information of the folding drive module, the rotation drive information of the rotation drive module, and the servo drive information of the servo drive module in the next moment according to the automatic control command at the current moment.

[0037] According to the specific embodiments provided in this application, the following technical effects are disclosed:

[0038] This application provides a control system and method for a sail-configured wave glider. The lower-level machine node receives data from the status data acquisition module, including the sail folding motor angle, sail pitch motor angle, and servo motor angle, and calculates the current motion state of the sail-configured wave glider. It then obtains meteorological data near the sail-configured wave glider from a weather station and calculates the target motion state of the glider based on the current motion state. The target motion state is used to control the folding drive module, rotation drive module, and servo drive module to adjust the motion state of the sail-configured wave glider. This achieves the adjustment of the sail folding angle, pitch angle, and servo motor angle according to meteorological conditions, realizing dual-degree-of-freedom control of the sail's pitch angle and folding angle. This improves the reliability of the sail-configured wave glider under complex weather conditions, reduces the risk of sail damage, and extends the sail's service life. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a structural block diagram of a sail-configured wave glider control system according to one embodiment of this application;

[0041] Figure 2 This is a control flowchart of a sail-configured wave glider control system according to one embodiment of this application.

[0042] Figure label:

[0043] 1-Master control node, 2-Sail slave node, 3-Communication module, 4-Weather station module, 5-Power management module, 6-Sail motor, 7-Folding sail motor, 8-First driver, 9-Second driver, 10-Servo driver, 11-Servo. Detailed Implementation

[0044] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0045] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0046] See Figure 1 This application provides a control system for a sail-configured wave glider. The control system is used to control a sail-configured wave glider, which includes a wing sail module, a servo module, and a status data acquisition module.

[0047] The wing sail module includes a wing sail, a folding drive module, and a rotation drive module. The folding drive module controls the folding angle of the wing sail based on folding drive information. The rotation drive module controls the pitch angle of the wing sail based on rotation drive information. The servo module includes a servo motor 11 and a servo drive module. The servo drive module controls the rotation angle of the servo motor 11 based on servo drive information. The status data acquisition module collects glider status data, including the folding drive information, the rotation drive information, and the servo drive information. The wing sail module, servo module, and status data acquisition module achieve dual-degree-of-freedom control of the wing sail's folding and rotation. The folding drive module and the rotation drive module each control one degree of freedom of the wing sail, without coupling, to adapt to different sea conditions and wind directions, reduce the probability of sail damage, and improve the adaptability of the sail-configured wave glider to complex marine environments.

[0048] The control system for the sail-configuration wave glider includes: a sail lower-level machine node 2 and a weather station module 4; the sail lower-level machine node 2 is connected to the folding drive module, the rotation drive module, the servo drive module, the status data acquisition module and the weather station module 4 respectively.

[0049] The weather station module 4 is used to acquire meteorological data in real time and transmit the meteorological data to the sail-mounted lower-level node 2, providing real-time environmental data support for the control of the sail-mounted wave glider. The meteorological data includes the wind speed and wind direction in the area where the sail-mounted wave glider is located.

[0050] The lower-level node 2 of the sail-configuration glider receives the glider status data and meteorological data at the current moment. Based on the glider status data, it determines the current motion state of the sail-configuration wave glider. The motion state includes the folding angle of the wingsail, the pitch angle of the wingsail, and the rotation angle of the servo motor 11. Based on the meteorological data and the current motion state, it calculates the target motion state of the sail-configuration wave glider at the current moment and generates the automatic control command based on the target motion state. Based on the automatic control command, it adjusts the folding drive information of the folding drive module, the rotation drive information of the rotation drive module, and the servo drive information of the servo motor drive module for the next moment. Specifically, the folding drive module controls the folding degree of freedom of the wingsail, and the rotation drive module controls the rotation degree of freedom of the wingsail, achieving an independent and uncoupled control mode, improving the system's flexibility and adaptability.

[0051] In an exemplary embodiment, the wind-sail configuration wave glider control system further includes: a master control node 1; the master control node 1 is connected to the wind-sail slave node 2 and the shore station monitoring system respectively;

[0052] The master control node 1 is used to: receive the shore station control command from the shore station monitoring system; the priority of the shore station control command is greater than the priority of the automatic control command; and send the shore station control command to the sail lower-level machine node 2.

[0053] The lower-level machine node 2 of the sail is also used to: adjust the folding drive information of the folding drive module, the rotation drive information of the rotation drive module, and the servo drive information of the servo drive module in the next moment according to the shore station control command at the current moment.

[0054] The master control node 1 is also used to: obtain the current motion status of the sail-configuration wave glider and send the current motion status to the shore station monitoring system.

[0055] In an exemplary embodiment, the wind-sail configuration wave glider control system further includes: a communication module 3; the master control node 1 is connected to the shore station monitoring system through the communication module 3.

[0056] In an exemplary embodiment, the master control node 1 further includes a CAN communication node. The master control node 1 is connected to the sail lower-level machine node 2 via CAN communication to ensure timely issuance of shore station commands and priority transmission of important data, thereby ensuring efficient data transmission and accurate execution of commands.

[0057] In an exemplary embodiment, the communication module 3 includes at least one of a Beidou communication module, an Iridium communication module, and a wireless communication module, forming a multi-layered communication guarantee system to ensure stable communication in various complex environments, especially data interaction in ocean areas far from the coast.

[0058] In an exemplary embodiment, the sail-configuration wave glider control system further includes a power management module 5; the power management module 5 is connected to the main control node 1 and is used to control the charging and discharging of the secondary lithium battery and to provide stable power to the sail-configuration wave glider control system to ensure the continuous operation of the system.

[0059] In an exemplary embodiment, the sail lower-level node 2 is connected to the servo drive module, the folding drive module, and the rotation drive module via RS-485 communication. The sail lower-level node 2 is equipped with an RS-485 communication interface, acting as the RS-485 communication host to interact with the folding drive module, the rotation motor drive module, and the servo drive module, thereby enhancing the system's communication capabilities and collaborative operation efficiency.

[0060] In an exemplary embodiment, the sail slave node 2 is connected to the weather station module 4 via RS232 communication. The sail slave node 2 receives meteorological data, including wind speed and direction, through the RS232 communication interface, and parses the wind speed and direction information. Based on the wind speed and direction information, the sail slave node 2 adjusts the movement state of the wing sail to reduce damage to the wing sail caused by severe weather.

[0061] In an exemplary embodiment, the status data acquisition module includes: a folding motor angle measurement sensor, a pitch motor angle measurement sensor, and a servo motor angle measurement sensor; the folding motor angle measurement sensor is used to acquire the folding drive information; the pitch motor angle measurement sensor is used to acquire the rotation drive information; and the servo motor angle measurement sensor is used to acquire the servo drive information.

[0062] In one exemplary embodiment, the sail-configuration wave glider control system further includes an analog-to-digital converter; the status data acquisition module is connected to the sail lower-level machine node 2 through the analog-to-digital converter.

[0063] In one exemplary embodiment, the folding motor angle measurement sensor, the pitch motor angle measurement sensor, and the servo motor angle measurement sensor are potentiometer-type angle sensors, which have high accuracy and reliability and can meet the stringent requirements of the system for angle measurement.

[0064] In an exemplary embodiment, the rotation drive module includes: a first driver 8 and a sail motor 6; the sail slave node 2 is connected to the sail motor 6 through the first driver 8; the rotation drive information acquired by the sail slave node 2 is determined based on the angle of the sail motor 6.

[0065] The folding drive module includes a second driver 9 and a folding sail motor 7; the sail lower-level machine node 2 is connected to the folding sail motor 7 through the second driver 9; the folding drive information obtained by the sail lower-level machine node 2 is determined based on the angle of the folding sail motor 7.

[0066] The above-described embodiment of the sail-configured wave glider control system achieves dual-degree-of-freedom control of the wing and sail. This control system includes a master control node 1 and a sail slave node 2. The master control node 1 is responsible for real-time communication with the shore-based monitoring system, while the sail slave node 2 independently controls the wing's folding and rotation to adapt to different sea conditions. Integrated Iridium, wireless, and BeiDou communication modules ensure stable remote communication. A weather station module 4 provides real-time environmental data, and the system uses potentiometer-type angle sensors for precise measurement. The master control node 1 has higher priority than the sail slave node 2 to ensure rapid command response. This embodiment improves the adaptability and safety of the wave glider in complex marine environments.

[0067] Based on the same inventive concept, this application also provides a control method for implementing the aforementioned sail-configuration wave glider, specifically including:

[0068] Step 1: Obtain the current glider status data and current weather data of the sail configuration wave glider; the action status includes: the folding angle of the wing sail, the pitch angle of the wing sail, and the rotation angle of the servo motor 11.

[0069] Step 2: Determine the current motion state of the sail-configured wave glider based on the glider status data at the current moment; the motion state includes: the folding angle of the wing sail, the pitch angle of the wing sail, and the rotation angle of the servo motor 11.

[0070] Step 3: Calculate the target motion state of the sail-configured wave glider at the current moment based on the current meteorological data and the current motion state, and generate the automatic control command for the current moment based on the target motion state.

[0071] Step 4: Adjust the folding drive information of the folding drive module, the rotation drive information of the rotation drive module, and the servo drive information of the servo drive module in the sail configuration wave glider in the next moment according to the automatic control command at the current moment.

[0072] In one exemplary embodiment, the control method for the sail-configured wave glider further includes:

[0073] The master control node 1 receives shore station control commands from the shore station monitoring system; the priority of the shore station control commands is higher than that of the automatic control commands. The shore station control commands are then sent to the sail slave node 2. The sail slave node 2 adjusts the folding drive information of the folding drive module, the rotation drive information of the rotation drive module, and the servo drive information of the servo drive module according to the current shore station control commands.

[0074] The master control node 1 acquires the current motion status of the sail-configuration wave glider and sends the current motion status to the shore station monitoring system.

[0075] In one exemplary embodiment, see Figure 2 The control method for the wind-sail configuration wave glider control system also includes a shore station control module, and the specific control flow is as follows:

[0076] Step 101: The shore station monitoring system sends shore station control commands to the TTL (Transistor-Transistor Logic) interface of the master control node 1 through the communication module 3 to achieve remote communication; and sends the current sail configuration wave glider status data and the current meteorological data obtained by the meteorological station to the shore station monitoring system through the communication module 3.

[0077] Step 102: The sail lower-level node 2 receives shore station control commands from the master control node 1 via CAN communication to ensure stable system operation; it acquires real-time meteorological data through the meteorological station module 4 and transmits it to the sail lower-level node 2 via RS232 communication. The sail lower-level node 2 sends the acquired real-time meteorological data and the current sail configuration wave glider status data to the master control node 1 via CAN communication.

[0078] Step 103: Based on the shore station control commands, the lower-level node 2 transmits the control commands for the first driver 8, the second driver 9, and the servo motor 11 to the respective drivers via RS485 communication. It also adjusts the folding drive information for the first driver 8, the rotation drive information for the second driver 9, and the servo drive information for the servo driver 10 at the next moment. The lower-level node 2 maintains data synchronization with each drive module through the RS485 communication interface, optimizing the overall system performance.

[0079] Step 104: Adjust the operating status of the sail motor 6, the sail folding motor 7, and the servo motor 11 based on the folding drive information, the rotation drive information, and the servo drive information.

[0080] Step 105: The status data acquisition module monitors the glider status data in real time, sends the glider status data to the ADC module for data conversion, and sends the converted data to the sail lower-level machine node 2.

[0081] The above embodiments aim to provide an efficient and intelligent maritime navigation solution, particularly suitable for long-duration, long-distance ocean observation missions. The sail-configuration wave glider control system of this application integrates advanced communication technology, power control strategies, and environmental perception capabilities to achieve precise control and autonomous navigation of the sail-configuration wave glider. The features of the sail-configuration wave glider control system of this application are reflected in the following aspects:

[0082] (1) Dual-degree-of-freedom control: The folding and rotation of the wing sail are independently controlled by the folding drive module and the rotation drive module, realizing uncoupled dual-degree-of-freedom operation, which greatly improves the adaptability and flexibility of the system under different sea conditions and wind directions.

[0083] (2) Environmental perception and intelligent control: The integrated weather station module 4 can obtain key information such as wind direction and wind speed in real time. With the calculation and analysis of the lower-level machine node 2, the wing sail status is dynamically adjusted, which significantly reduces the risk of damage to the sail under severe weather conditions.

[0084] (3) Efficient communication mechanism: The system adopts a communication module 3 with multiple communication methods, including Beidou, Iridium, and wireless communication, to build a multi-layered communication guarantee system, ensuring stable communication in various complex environments, especially in the open ocean. The CAN communication node of the master control node 1 has a higher priority than the lower-level machine node 2 of the sail, ensuring the immediate execution of key instructions and the priority transmission of important data.

[0085] In summary, this invention provides an intelligent control system that integrates advanced communication technology, power control strategy, and environmental perception capabilities. It effectively solves the problems of weak power and slow speed of traditional wave gliders in low sea states, and also overcomes the problem of wing sail damage caused by the non-foldable wing sail of conventional sail-configured wave gliders. This greatly improves the navigation efficiency and adaptability of sail-configured wave gliders in complex marine environments.

[0086] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0087] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A control system for a sail-configured wave glider, characterized in that, The control system for the sail-configuration wave glider is used to control the sail-configuration wave glider, which includes: a wing sail module, a servo module, and a status data acquisition module. The wing sail module includes: a wing sail, a folding drive module, and a rotation drive module; the folding drive module is used to control the folding angle of the wing sail according to the folding drive information; the rotation drive module is used to control the pitch angle of the wing sail according to the rotation drive information; the servo module includes: a servo and a servo drive module; the servo drive module is used to control the rotation angle of the servo according to the servo drive information; the status data acquisition module is used to acquire glider status data; the glider status data includes: the folding drive information, the rotation drive information, and the servo drive information; The control system for the sail-configuration wave glider includes: a sail lower-level machine node and a weather station module; the sail lower-level machine node is connected to the folding drive module, the rotation drive module, the servo drive module, the status data acquisition module, and the weather station module, respectively; The weather station module is used for: Real-time acquisition of meteorological data, and transmission of the meteorological data to the sail lower-level machine node; The sail lower-level machine node is used for: Receive the glider status data and the meteorological data at the current moment, and determine the action state of the sail-configured wave glider at the current moment based on the glider status data at the current moment; the action state includes: the folding angle of the wing sail, the pitch angle of the wing sail, and the rotation angle of the servo motor. The target motion state of the sail-configured wave glider is calculated based on the current meteorological data and the current motion state, and the automatic control command for the current moment is generated based on the current target motion state. The folding drive module, the rotation drive module, and the servo drive module adjust their folding drive information, rotation drive information, and servo drive information in the next moment according to the automatic control command at the current moment.

2. The control system for the sail-configured wave glider according to claim 1, characterized in that, The control system for the sail-configured wave glider also includes a master control node; the master control node is connected to the sail-based lower-level machine node and the shore station monitoring system respectively. The master control node is used for: Receive shore station control commands from the shore station monitoring system; the priority of the shore station control commands is higher than the priority of the automatic control commands; Send the shore station control command to the sail lower-level machine node; The sail-type lower-level machine node is also used for: Adjust the folding drive information of the folding drive module, the rotation drive information of the rotation drive module, and the servo drive information of the servo drive module in the next moment according to the current shore station control command. The master control node is also used for: The system acquires the current motion status of the sail-configured wave glider and sends the current motion status to the shore station monitoring system.

3. The control system for the sail-configured wave glider according to claim 2, characterized in that, The control system for the sail-configured wave glider also includes: a communication module; The master control node is connected to the shore station monitoring system through the communication module.

4. The control system for the sail-configured wave glider according to claim 2, characterized in that, The master control node is connected to the lower-level machine node of the windmill via CAN communication.

5. The control system for the sail-configured wave glider according to claim 1, characterized in that, The communication module includes at least one of the following: a BeiDou communication module, an Iridium communication module, and a wireless communication module.

6. The control system for the sail-configured wave glider according to claim 2, characterized in that, The control system for the sail-configuration wave glider also includes a power management module; the power management module is connected to the main control node.

7. The control system for the sail-configured wave glider according to claim 1, characterized in that, The sail lower-level machine node is connected to the servo drive module, the folding drive module, and the rotation drive module respectively via 485 communication.

8. The control system for the sail-configured wave glider according to claim 1, characterized in that, The sail-type lower-level node is connected to the weather station module via RS232 communication.

9. The control system for the sail-configured wave glider according to claim 1, characterized in that, The status data acquisition module includes: a folding motor angle measurement sensor, a pitch motor angle measurement sensor, and a servo motor angle measurement sensor; The folding motor angle measurement sensor is used to collect the folding drive information; the pitch motor angle measurement sensor is used to collect the rotation drive information; and the servo motor angle measurement sensor is used to collect the servo drive information.

10. A control method for a sail-configured wave glider, characterized in that, The sail-configuration wave glider control method is used in the sail-configuration wave glider control system according to any one of claims 1-9, and the sail-configuration wave glider control method includes: Acquire the current glider status data and current meteorological data of the sail-configured wave glider; the action status includes: the folding angle of the wing sail, the pitch angle of the wing sail, and the rotation angle of the servo motor; The motion state of the sail-configured wave glider at the current moment is determined based on the glider status data at the current moment; the motion state includes: the folding angle of the wing sail, the pitch angle of the wing sail, and the rotation angle of the servo motor. The target motion state of the sail-configured wave glider is calculated based on the current meteorological data and the current motion state, and the automatic control command is generated based on the current target motion state. Adjust the folding drive information of the folding drive module, the rotation drive information of the rotation drive module, and the servo drive information of the servo drive module in the next moment according to the automatic control command at the current moment.

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