37 results about "Glider" patented technology

This invention provides a small lightweight glider that is hollow and made from a molded thin film material. Typically the glider is formed in the shape of a bird or a plane. The body of the glider comprises top half and a lower half, which form a hollow fuselage, a left wing and a right wing extending laterally from the fuselage. The glider also comprises a ballast weight, a stiffener, and optionally an interior skeleton. The interior of the glider is open to the outside atmosphere and requires no inflation.

A winch / truck and operating method for launching gliders is constructed from a cab and chassis truck which has been modified to utilize truck's power train systems for locomotion of winch machinery. The winch / truck is designed so that truck front faces the launching glider such that truck cab and power controls can be used for operation. The winch / truck can be shifted on the fly from drive mode to winch mode, is completely roadworthy, and can be driven to and from launch site under its own power. The operation method is precisely controlled by using the truck's power control module, GPS, electronic sensing and off the shelf computer technology to display performance parameters and data to the operator.

The invention discloses a method for controlling the heading of an adaptive floating body of a wave glider, and belongs to the technical field of marine vehicle motion control. The present invention utilizes the actual navigation data of the wave glider to plan the desired heading of the submersible in real time, indirectly realizes the heading control of the floating body of the wave glider through the heading control of the submersible, and overcomes the instability of the control system caused by the lagging response of the floating body heading problems, and can eliminate the steady-state error caused by environmental disturbances, effectively improving the ability of the wave glider to control the heading of the floating body. The invention has a simple structure, is easy to implement, does not depend on an accurate mathematical model, and has strong self-adaptability under the interference of uncertain external environments.

The present invention relates to the technical field of wave glider collision avoidance, in particular to a low-cost wave glider maritime collision avoidance method. The wave glider communicates with the ground station through satellites, and the ground station receives the information returned by the wave glider. S1: Acquisition AIS information sent to the Internet by ships in the preset area; S2: According to the ship information and wave glider coordinates, classify the ships into safe ships and ships with collision risk; S3: According to the AIS information of ships with collision risk, Carry out collision avoidance according to the preset avoidance operation. The method does not need to install collision avoidance equipment on the glider, reduces the power consumption of the glider, and the wave glider can avoid collision of ships at a long distance.

The invention provides a wave glider waypoint tracking method based upper and lower body heading information fusion. A steering engine of a wave glider is installed in a submerged body. The steering engine is controlled by a main computer for directly controlling the steering of the submerged body. The steering of a floating body can be supported by the drag force of the submerged body. The floating body and the submerged body are provided with a heading sensor respectively for measuring the floating body heading [psi]F and the submerged body heading [psi]G to sent to the main computer. The main computer completes fusion of heading information of the floating body and the submerged body of the wave glider, and corrects the expected course angle combined with the dynamic characteristics in the navigation process so as to complete the waypoint tracking task. The method can effectively avoid the soft chain winding phenomenon which is unique to the structure of the hard-soft multi-system structure of the wave glider and improve the course control performance of the wave glider and the waypoint tracking ability under the external disturbance force such as wind and flow.

The invention discloses an underwater fatigue-resistant shock-absorbing device suitable for a wave energy glider, which belongs to the technical field of marine engineering. The shock absorbing device includes a shock absorbing beam, a rectifying block, a limit plate, a shock absorbing beam connecting block, a connecting shaft adapter block and a connecting shaft; the two ends of the shock absorbing beam are sleeved with the shock absorbing beam connecting block and fixed by screws. A rectifier block and a limiting plate are arranged in sequence below the shock absorbing beam, and the connecting bent plate fixes the rectifying block and the limiting plate on the middle section of the shock absorbing beam, and the two connecting shaft adapter blocks are fixed on the shock absorbing beam through the connecting bent plate Above, the two ends of the connecting shaft are rotated and installed on the connecting shaft adapter block through the shaft sleeve; the shock absorbing device is connected with the hanging cable through the connecting shaft, and connected with the glider through the shock absorbing beam connecting block. The invention can effectively reduce the risk of fatigue fracture of the hanging cable, and greatly improve the service period of the wave energy glider.

The invention proposes an online identification method for yaw response parameters based on an integral method, belongs to the technical field of maneuverability models of marine vehicles, and is suitable for ships and wave gliders. This method firstly sets the time length of the integration interval, integrates the control response equation with respect to time, and obtains the integrated ship control response equation; then sets the criterion function, and adjusts the relative weight of the parameters in the criterion function through the weight coefficient; then the criterion function according to Find the minimum value of the estimated value of the main parameter at the current moment, add a step factor, iteratively correct the estimated value of the main parameter at the current moment, and finally repeat the above steps until the end of the estimation process is received, so as to ensure the traversal manipulation of the main parameter in the estimation process All parameters to be estimated in the response equation. This method corrects the yaw response parameters in real time through the actual navigation data, avoids the difficulty of mechanism modeling, and ensures the true reflection of the yaw response parameters to the maneuverability of the ship or wave glider.

The invention discloses an approximate dynamic programming optimization control method for underwater thermal glider attitude adjustment, comprising: S1, designing a cost function for an approximate dynamic programming controller, wherein the output end of the approximate dynamic programming controller is connected with an underwater thermal glider controlled object; S2, designing a value functionof the approximate dynamic programming controller; S3, calculating an optimal execution output equation of the approximate dynamic programming controller; S4, connecting two single-input single-output auto disturbance rejection controllers in parallel in front of the approximate dynamic programming controller, and respectively controlling the two single-input single-output auto disturbance rejection controllers to output two control signals; and S5, inversely transforming the control signals obtained in step S4 to solve an original control input signal, and then obtaining an optimal executionoutput. The method can obtain the nonlinear optimal approximate dynamic programming control law of the underwater thermal glider attitude adjustment by only real-time state feedback.

The motion prediction method of the wave glider with flexible connection, the specific steps are as follows: (1) Obtain the rudder angle information (2) Calculate the force on the submerged body (3) Calculate the flexible chain pull force on the submerged body; (4) Judge the submerged body If the direction of the vertical flexible chain pulling force is vertically upward, then return to (2), if it is vertically downward or zero, then store the current moment state information as (5) initial state, enter (5); (6 ) to calculate the distance between the floating body and the submerged body, if the distance is less than the length of the flexible chain, then return to (5); if the distance is greater than the length of the flexible chain, then store the current state information as the initial state of (1), and return to (1); if the distance is equal to length of the flexible chain, then enter (7); (7) judge the relative movement trend of the floating body and the submerged body, if they are close to each other or relatively static in the direction of the connection between the two, then return to (5); if they are far away from each other, then store the current Time state information is used as 1) initial state, and returns (1).

The invention provides an adaptive heading information fused course control method of a wave glider. The method comprises that (1) a guidance module provides an expected course angle; (2) an estimatedvalue of a corrected submerged floating body relative to a proportional coefficient of the system heading angle is obtained; (3) an expected heading angle of the submerged body is calculated; (4) anabsolute value of an included angle between the expected heading and the heading of the submerged body is calculated, and limited within a preset threshold; (5) the heading of the submerged body is controlled, a host computer emits a rudder angle instruction to a steering engine, and the steering engine drives a rudder plate to rotate; and (6) an absolute value of an error of the practical courseof the wave glider relative to the expected course is calculated, if the absolute value of the error is lower than a set threshold and kept for certain time, it is considered that practical output ofthe wave glider control system is converged to expected output stably, the cycle is broken out, and otherwise, the step (2) is returned to. Thus, the heading of the submerged body is controlled to indirectly control the whole course of the wave glider, the aim of course control is achieved, and the method is higher adaptive.

The invention provides a yaw response parameter vector estimation method based on an integration method, and belongs to the technical field of ship maneuverability modeling. The yaw response parametervector estimation method based on the integration method is suitable for ships or wave gliders. The yaw response parameter vector estimation method based on the integration method comprises the following steps that firstly, a time length L of an integration interval is set, a manipulation response equation is integrated with time to obtain an integrated manipulation response equation; then, a parameter vector and a state vector are set according to the manipulation response equation, then a criterion function is set, and the relative weight of internal parameters is adjusted by using a weightcoefficient; a minimum value of an estimated value of the criterion function with respect to a current time parameter vector is obtained, and a step factor is added to obtain an estimated value of the current time parameter vector in a recursive form; and finally, the steps are repeated until the end instruction of a estimation process is received. According to the yaw response parameter vector estimation method based on the integration method, a yaw response parameter vector can be corrected in real time in the ship sailing process, and yaw response parameters of the ships or the wave gliders which change in real time can be obtained; and compared with the prior art, the yaw response parameter vector estimation method based on the integration method has obvious advantages in the aspectsof rapidity, convenience, application range and the like.

The invention provides a parallel estimation method for parameter vectors of maneuvering response equations, belongs to the technical field of maneuverability model parameter estimation, and is suitable for ships or wave gliders. This method first sets the parameter vector P and the state vector Y, and satisfies P T Y=r, r is the turning angle velocity; then set the criterion function as the estimated value of P at the current moment, which is the estimated value of P at the previous moment, and μ is the weight coefficient; then add the step size to the criterion function J regarding finding the minimum value Factor λ, recursive correction λ is the step factor; finally repeat the previous step until receiving the instruction to end the estimation process. A method for parallel estimation of parameter vectors of maneuvering response equations suitable for ships and wave gliders proposed by the present invention can correct the parameter vectors in real time during the sailing process of ships, and obtain the maneuverability parameters of ships or wave gliders that change in real time Compared with the existing technology, it has significant advantages in terms of rapidity and convenience, and has a good development prospect.