Underwater glider counterweight configuration scheme generation method and device and storage medium

Abstract

The invention relates to the technical field of underwater glider balancing, and particularly discloses an underwater glider counterweight configuration scheme generation method and device and a storage medium. The method comprises the following steps: respectively measuring supporting force to the underwater glider in an air state and an underwater state through a balancing device, automatically calculating the gravity, buoyancy, gravity center and buoyancy center position of the underwater glider based on a measurement result, and further calculating the required total weight of a balance weight according to the density difference between a target water area and a test water area. And finally, a specific counterweight scheme for mounting at a specified position is generated. The invention also correspondingly provides a special device for realizing the method and a medium for storing related programs. According to the method, a traditional tedious iterative balancing process is optimized into high-precision automatic measurement which can be completed through one-time hanging, errors caused by hanging bending moment are effectively avoided, and the balancing efficiency, the balancing precision and the adaptability to different water environments are remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of underwater equipment, and particularly relates to a weight configuration scheme generation method and device for underwater glider and a storage medium. BACKGROUND

[0002] The accurate trim of the center of gravity and the center of buoyancy of the underwater glider is a core element for ensuring the stability and the attitude control accuracy. After the underwater glider completes the layout of various necessary components, in order to achieve the effective trim of the center of gravity and the center of buoyancy, the weight and the position of the additional weight block need to be calculated according to the current position and size of the center of gravity and the center of buoyancy. However, the actual position of the center of gravity and the center of buoyancy and the size of the center of gravity and the center of buoyancy of the underwater glider are affected by uncontrollable factors such as manufacturing and processing errors and assembly errors, and there is often a significant deviation compared with the simulation results in the design software, which makes it difficult to directly use the simulation data for weight calculation. Therefore, the weight configuration scheme can be finally determined only according to the actual measurement results.

[0003] At present, the commonly used weight configuration calculation method is to suspend the underwater glider in the air and underwater respectively, continuously adjust the suspension point position until the underwater glider remains horizontal, thereby determining the positions of the center of gravity and the center of buoyancy, and then combining the measurement results of the gravity and the residual buoyancy to calculate the weight configuration scheme. However, it is difficult to accurately move the suspension point to the position of the center of gravity and the center of buoyancy by manually adjusting the suspension point, and the suspension point is easy to provide a bending moment for the glider, which makes the measurement results of the center of gravity and the center of buoyancy inaccurate, and finally leads to errors in the weight configuration scheme, which makes it necessary to repeat the operation several times to obtain an ideal configuration scheme, and the process is complicated and time-consuming. SUMMARY

[0004] In view of the problems in the prior art that the operation is complex, the efficiency is low, the process is complicated and time-consuming, the measurement accuracy is insufficient and the error is large, and it is difficult to accurately determine the positions of the center of gravity and the center of buoyancy, the present application provides a weight configuration scheme generation method and device for underwater glider and a storage medium.

[0005] The present application is implemented in the following manner: a weight configuration scheme generation method for underwater glider, characterized by comprising the following steps: Step S1: providing a trimming device, the trimming device comprising two groups of liftable U-shaped frames and pressure sensors at the bottom of the U-shaped frames, capable of supporting the underwater glider as a whole in the air in a first mode and submerging the underwater glider as a whole underwater in a second mode, and the support point height of the U-shaped frame remains unchanged during the mode switching process; Step S2: measuring the weight of the trimming device itself reflected by the pressure sensor readings in the first mode and the second mode respectively; Step S3: placing the underwater glider stably on the trimming device and establishing a preset coordinate system; Step S4: make the trim device carrying the underwater glider in the first form, based on the current pressure sensor readings and the measurement results of step S2, calculate the gravity of the underwater glider in the air And the horizontal coordinate of its center of gravity ; Step S5: make the trim device carrying the underwater glider in the second form, based on the current pressure sensor readings and the measurement results of step S2, calculate the buoyancy of the underwater glider underwater And the horizontal coordinate of its center of buoyancy ; Step S6: according to the gravity , buoyancy , horizontal coordinate of the center of gravity , horizontal coordinate of the center of buoyancy , test pool water density And the actual working sea area water density , calculate the total weight of the added counterweight ; Step S7: based on the total weight of the counterweight And the preset horizontal coordinate of the front and rear counterweight arrangement position , , calculate the front counterweight weight And the rear counterweight weight , generate a counterweight configuration scheme.

[0006] In the above technical solution, preferably, in step S4, the specific formula for calculating the gravity And the horizontal coordinate of the center of gravity Is:

[0007] The horizontal coordinate of the center of gravity

[0008] Among them, , , The average value of the pressure sensor readings of the U-shaped frame 1 and the U-shaped frame 2 in the first form, , The corresponding value of the trim device itself in the first form, The horizontal coordinate of the support point of the U-shaped frame 1.

[0009] In the above technical solution, preferably, in step S5, the specific formula for calculating the buoyancy And the horizontal coordinate of the center of buoyancy Is:

[0010]

[0011] wherein, , , , are the average values of the pressure sensor readings on the U-shaped frame 1 and the U-shaped frame 2 in the second mode respectively, , are the corresponding values of the trimming device itself in the second mode.

[0012] In the above technical solution, preferably, in the step S6, the total weight of the counterweight is calculated according to the following formula: .

[0013] In the above technical solution, preferably, in the step S7, the weight of the front counterweight and the weight of the rear counterweight are calculated according to the following formula: .

[0014] In the above technical solution, preferably, in the step S3, the specific way of establishing the preset coordinate system is: taking the vertical plane passing through the line where the wing of the underwater glider coincides with the U-shaped frame 2 as the plane, taking the central axis of the underwater glider as the x-axis, and taking the nose direction as the positive direction of the x-axis and the vertical upward direction as the positive direction of the z-axis.

[0015] In the above technical solution, preferably, in the step S2, when measuring the weight of the trimming device itself, the average values of the pressure sensor readings of the U-shaped frame 1 and the U-shaped frame 2 in the air and underwater are recorded respectively .

[0016] Compared with the prior art, the present application simplifies the traditional cumbersome iterative adjustment process into an efficient process of "one-time hanging and direct output" through the integrated and automated design of the trimming device. Only one installation measurement is required for the glider, and all mechanical data can be quickly obtained and an accurate counterweight configuration scheme can be directly generated, thereby greatly shortening the trimming period and significantly improving the work efficiency. In terms of accuracy and reliability, the present application discards the traditional suspension method and adopts a stable support mode of U-shaped frame lifting, which fundamentally avoids the measurement error introduced by the hanging point bending moment, making the measurement results of the center of gravity and the center of buoyancy more accurate and reliable, effectively reducing the number of repeated measurements, and ensuring the consistency and high reproducibility of the trimming results. In addition, the present application has excellent environmental adaptability and engineering practicality. By introducing the water density parameter, the optimal counterweight scheme matched with the water environment conditions of different working sea areas can be quickly adjusted and output, thereby ensuring that the underwater glider always maintains excellent stability and attitude control accuracy in actual application, and expanding its application range and task adaptability.

[0017] The second object of the present application provides a trim device for underwater glider, which is used to realize the above method, and is characterized in that it comprises a frame, two U-shaped frames, pressure sensors and a lifting mechanism; the two U-shaped frames are used to support the underwater glider; a plurality of pressure sensors are arranged at the bottom of each U-shaped frame; and the lifting mechanism is used to drive the U-shaped frames and the underwater glider to switch as a whole between the air and underwater, and keep the height of the support point of the U-shaped frames unchanged during the switching process. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 Schematic diagram of underwater glider in air measurement mode; Figure 2 Schematic diagram of underwater glider in underwater measurement mode; Figure 3 Schematic diagram of force condition of underwater glider in air measurement; Figure 4 Schematic diagram of force condition of underwater glider in underwater measurement; Figure 5 Schematic diagram of force condition of underwater glider after adding counterweight; DETAILED DESCRIPTION In order to make the object, technical scheme and advantages of the present application clearer, the present application will be further described in detail below with examples. It should be understood that the specific examples described herein are only used to explain the present application, and are not used to limit the present application.

[0019] In order to solve the problems existing in the prior art, the present application provides a weight configuration scheme generation method and device for underwater glider and a storage medium. In order to further illustrate the structure of the present application, the detailed description is as follows in combination with the drawings: The weight configuration scheme generation method for underwater glider is characterized by comprising the following steps: Step S1: providing a trim device, which comprises two groups of liftable U-shaped frames and pressure sensors at the bottom of the U-shaped frames, can support the underwater glider as a whole in the air in a first mode, and can immerse the underwater glider as a whole underwater in a second mode, and the height of the support point of the U-shaped frames remains unchanged during the mode switching process.

[0020] Please refer to Figure 1 and Figure 2 , specifically, the trim device for underwater glider comprises a frame, U-shaped frames, pressure sensors 5 and a lifting mechanism 6. The two groups of U-shaped frames are used to support the underwater glider. A plurality of pressure sensors are arranged at the bottom of each U-shaped frame. The lifting mechanism is used to drive the U-shaped frames and the underwater glider to switch as a whole between the air and underwater, and keep the height of the support point of the U-shaped frames unchanged during the switching process Step S2: Measure the weight of the balancing device itself in the first and second configurations respectively through the pressure sensor readings.

[0021] Measure the pressure sensor readings respectively when the balancing device is in air and underwater. Wherein, are the average values of the pressure sensor readings respectively when the U-shaped frame 1 is in air and underwater. are the average values of the pressure sensor readings respectively when the U-shaped frame 2 is in air and underwater.

[0022] Step S3: Place the underwater glider 3 steadily on the balancing device and establish a preset coordinate system.

[0023] Please refer to Figures 3-5 Place the underwater glider steadily on the balancing device and make the wing 4 lean against the U-shaped frame 2. Take the vertical plane passing through the line where the wing coincides with the U-shaped frame 2 as the plane, take the vertical upward z-axis, take the center axis of the underwater glider as the x-axis, take the direction of the head of the underwater glider as positive, and take the direction pointing to the right side of the carrier as the y-axis.

[0024] Step S4: Make the balancing device carrying the underwater glider in the first configuration, calculate the weight of the underwater glider in air and the horizontal coordinate of the center of gravity of the underwater glider based on the current pressure sensor readings and the measurement results of step S2.

[0025] Make the balancing device carrying the underwater glider in the air measurement configuration, record the pressure sensor readings, obtain the average values of the pressure sensor readings on the two pressure sensors of the U-shaped frame 1 , and obtain the average values of the pressure sensor readings on the two pressure sensors of the U-shaped frame 2 . The calculation can be obtained as follows: ,

[0026] Wherein: , are the support forces of the underwater glider on the U-shaped frame 1 and the U-shaped frame 2 respectively in air.

[0027] The weight of the underwater glider is :

[0028] The horizontal coordinate of the center of gravity of the underwater glider is :

[0029] Wherein: The horizontal coordinate of the support point of the U-shaped frame 1 is equal to the distance between the two U-shaped frames in value, which is fixed and known.

[0030] Step S5: The trim device carrying the underwater glider is in the second form, and the buoyancy received by the underwater glider under water is calculated based on the current pressure sensor reading and the measurement result of step S2 and the horizontal coordinate of the center of buoyancy .

[0031] The trim device carrying the underwater glider is in the underwater measurement form, and the pressure sensor readings are recorded to obtain the average value of the readings of the two pressure sensors on the U-shaped frame 1 and the average value of the readings of the two pressure sensors on the U-shaped frame 2 . The calculation can be obtained as follows: ,

[0032] In the formula: , are the support forces of the underwater glider received by the U-shaped frame 1 and the U-shaped frame 2 under water respectively.

[0033] The buoyancy received by the underwater glider in the pool :

[0034] The horizontal coordinate of the center of buoyancy of the underwater glider : .

[0035] Step S6: According to the gravity , the buoyancy , the horizontal coordinate of the center of gravity , the horizontal coordinate of the center of buoyancy , the water density of the test pool and the water density of the actual working sea area , the total weight of the added counterweight is calculated as follows: : .

[0036] Step S7: Based on the total weight of the counterweight and the preset horizontal coordinate of the front and rear counterweight arrangement position , , the front counterweight weight and the rear counterweight weight are calculated to generate a counterweight configuration scheme.

[0037] .

[0038] The above merely describes preferred embodiments of the present application, and is not used to limit the present application, any modification, equivalent replacement and improvement within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. An underwater glider ballast configuration scheme generation method, characterized by, The method comprises the following steps: Step S1: providing a balancing device, the balancing device comprising two groups of liftable U-shaped frames and pressure sensors at the bottom of the U-shaped frames, capable of supporting the whole underwater glider in air in a first mode and submerging the whole underwater glider in water in a second mode, and the height of the supporting point of the U-shaped frames remaining unchanged during the mode switching; Step S2: measuring the weight of the balancing device in the first mode and the second mode respectively through the pressure sensors; Step S3: placing the underwater glider on the balancing device stably and establishing a preset coordinate system; Step S4: With the trim device carrying the glider in the first configuration, calculate the glider's weight in air and its center of gravity horizontal coordinate based on the current pressure sensor reading and the results of step S2 ;​ Step S5: With the trim device carrying the glider in the second configuration, calculate the buoyancy force acting on the glider underwater based on the current pressure sensor reading and the measurement result of step S2 and the cross-coordinate of the glider's center of buoyancy ; Step S6: Based on the gravity ,buoyancy centroid x-coordinate Floating center x-coordinate Test the water density in the pool and actual sea area water density Calculate the total weight of the additional counterweight required. ; Step S7: calculating the front weight and the rear weight based on the total weight of the counterweight and the preset front and rear counterweight arrangement position horizontal coordinates , , to generate a counterweight configuration scheme.

2. The underwater glider ballast configuration scheme generation method according to claim 1, characterized by, In the step S4, the gravity and the horizontal coordinate of the center of gravity The specific formula is: barycentric abscissa wherein, , , are the average values of the pressure sensor readings on the U-shaped frame 1 and 2 respectively in the first configuration, , are the corresponding values of the balancing device itself in the first configuration, are the abscissas of the support points of the U-shaped frame 1.

3. The underwater glider ballast configuration scheme generation method according to claim 2, characterized by, In the step S5, the buoyancy is calculated and the cross coordinate of the center of buoyancy The specific formula is: wherein, , , , are the average values of the readings of the pressure sensors on the U-shaped racks 1 and 2, respectively, in the second configuration, , are the corresponding values of the balancing device itself in the second configuration.

4. The underwater glider ballast configuration scheme generation method according to claim 3, characterized by, The total weight of the counterweight in the step S6 The calculation formula is: 。 5. The underwater glider ballast configuration scheme generation method according to claim 4, characterized in that, The step S7, the front counterweight weight With the rear counterweight weight The formula is: 。 6. The underwater glider ballast configuration scheme generation method according to claim 1, wherein, The specific way of establishing the preset coordinate system in the step S3 is: taking a vertical plane of the underwater glider wing coinciding with the U-shaped frame 2 as the x-y plane, taking the underwater glider central axis as the x axis, taking the nose direction as the positive direction of the x axis, and taking the vertical upward direction as the positive direction of the z axis. plane, taking the underwater glider central axis as the x axis, taking the nose direction as the positive direction of the x axis, and taking the vertical upward direction as the positive direction of the z axis.

7. The method of claim 1, wherein, In the step S2, when measuring the weight of the balancing device itself, the average values of the pressure sensor readings of the U-shaped frame 1 and the U-shaped frame 2 in air and underwater are recorded respectively .

8. An underwater glider trim device for implementing the method of any one of claims 1-7, characterized by, The method comprises: a frame; two groups of U-shaped frames for supporting the underwater glider; a plurality of pressure sensors arranged at the bottom of each U-shaped frame; a lifting mechanism for driving the U-shaped frames and the underwater glider to switch between air and water as a whole and keeping the height of the supporting point of the U-shaped frames unchanged during the switching.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The program is executed by a processor to implement the steps of the method of any one of claims 1-7.

Images