399 results about "Underwater glider" patented technology

The invention discloses an integrated navigation device for an underwater glider and a navigation method therefor. The integrated navigation device for an underwater glider is characterized in that the integrated navigation device comprises an electronic compass, a micro-electro-mechanical system (MEMS) inertia measurement unit, a global satellite system receiving module and a digital signal processing module; an inertial integrated navigation and positioning system comprising the electronic compass and a posture measuring unit comprising a MEMS gyro and an accelerometer cooperates with a control system; a digital signal processor (DSP) module is utilized as a navigation resolving part; and independent and accurate positioning of an underwater glider is realized through processes of noise reduction, temperature compensation, non-linear correction, cross-coupling compensation and dead reckoning on various sensors in a full temperature range. The integrated navigation device for an underwater glider has a small volume, a high integration level, low power dissipation, long endurance and a low cost, can fast and accurately acquire current posture and position information of an underwater glider, can keep the balance of the underwater glider, and can provide track and position parameters for the underwater glider.

The invention discloses a mixed type underwater navigation detector which comprises a bow compartment, a main chamber, an electronic control chamber and a peak tank which are coaxially and sequentially connected, wherein the bow compartment and the peak tank are communicated with an outside water area; the main chamber and the electronic control chamber are sealing chambers; two wings are symmetrically installed at a connection position of the main chamber and the electronic control chamber; a sonar height gauge and an acoustic transceiver are installed in the bow compartment; a non-contact electric energy and signal transmission assembly is sleeved outside the main chamber; a gesture adjustment system and a buoyancy adjustment system are installed in the main chamber; the buoyancy adjustment system is installed on the front portion of the main chamber; buoyancy is adjusted through movement of a piston; two sides of the piston are isolated and sealed through rolling membranes; electronic equipment for controlling an aircraft is installed in the electronic control chamber; and a propeller propelling system and a steering control system are fixed on the peak tank. The mixed type underwater navigation detector has characteristics of underwater gliders and autonomous underwater vehicles, and can be abutted with an underwater connection platform to conduct non-contact charging and data transmission, so that continuous operational capability and applied range of underwater aircrafts can be increased.

The mixed submarine navigation craft has the advantages of both underwater glider and underwater navigation craft combined together. It consists of a head compartment, a buoyancy driving and controlling compartment, a pose controlling compartment, a wing compartment, a battery compartment and a tail compartment connected successively. It has one buoyancy driving system comprising an outer casing, an inner casing and a hydraulic system; one pose regulating system comprising a pitch regulating system and a roll regulating system; two wings with two rotation freedoms each and capable of being withdrawn for fast propulsion; and one navigation and control system for craft pose measurement, navigation, buoyancy control, etc. The present invention is one modular designed structure and may embark proper measurement sensors and task modules for various water operations.

The invention relates to launching and recycling technologies for underwater gliders or other underwater or water surface vehicles, in particular to an intelligent underwater robot shipborne launching and offshore recycling mechanism and corresponding method. The recycling mechanism comprises a shipborne body, a main recycling slide way, an auxiliary recycling slide way, an electric turning mechanism, an electric control cabinet, a tensioning mechanism, a multi-sensor fusion positioning system, a dragging unit and a hook system. The recycling mechanism is simple, reasonable, reliable in structure, and easy and convenient to operate, the underwater gliders, autonomous underwater vehicles (AUV), other underwater robots and the like can be launched and recycled quickly and efficiently, the workload of sailors and related staff on a ship are greatly relieved, the dangerous factors in the launching and recycling processes of the underwater robots are avoided, and the problem that the launching and recycling processes waste time and labor is solved.

The invention relates to an underwater measuring platform, in particular to a gesture adjusting device for an underwater glider. Front and rear end covers of a roll support are arranged at two ends of a gesture adjusting pressure shell respectively. A front pitching baffle is arranged on the front end cover of the roll support rotatably. A rear pitching baffle is connected to a worm gear via a connecting frame. The worm gear is arranged on the rear end cover of the roll support rotatably. A roll motor is arranged on the rear end cover of the roll support. An output shaft of the roll motor is connected to a worm engaged with and driving the worm gear. A lead screw is arranged between the front and rear pitching baffles. One end of the lead screw is connected to a pitching motor arranged onthe connecting frame via a bevel gear group, and nuts are in thread connection with the lead screw. A battery pack and the nuts are connected as a whole. A guide rail is arranged between the front and rear pitching baffles, and a slide block connected with the battery pack as a whole is arranged on the guide rail. The gesture adjusting device provided by the invention has the advantages of simpleand compact structure, low power consumption, high reliability and wide adjusting range between a pitching angle and a roll angle.

The invention discloses a buoyancy driving device of a deep-sea underwater glider, which comprises an oil tank, a high-pressure plunger pump, a gear pump and a normally closed electromagnetic valve. The oil tank is mounted in a pressure-resistant shell and consists of a shell fixedly connected with the pressure-resistant shell, a corrugated pipe type leather sac is mounted in the shell, one end of the corrugated tube type leather sac is hermetically fixedly connected with the bottom end of the shell, the other end of the corrugated tube type leather sac is hermetically fixedly connected with a movable end cover, the movable end cover is slidably connected into the shell, an end cover photoelectric sensor and a top end photoelectric sensor are mounted on the shell, an oil outlet of the oil tank is connected with an oil inlet of the gear pump, an oil outlet of the gear pump is connected with an oil inlet of the high-pressure plunger pump, an oil outlet of the high-pressure plunger pump is connected with an oil inlet of an outer oil sac, the oil outlet of the gear pump is connected with an oil inlet of the oil tank by a check valve communicated with the gear pump, and an oil outlet of the outer oil sac is connected with the oil inlet of the oil tank by the normally closed electromagnetic valve. By the aid of the buoyancy driving device, underwater gliders can run in the deep sea, and requirements on deep-sea operation for a long time and at high depth are met.

The invention discloses a bionic underwater glider, which comprises a glider main body, a buoyancy changing device, an empennage and a gliding wing; the buoyancy changing device is arranged on the glider main body, and changes the net buoyancy of the bionic underwater glider by changing the displacement volume; The tail fin is arranged on the tail of the glider main body through a tail fin swing mechanism to realize the back and forth swing function of the tail fin; Rotate function. Also disclosed is a bionic underwater glider propulsion method. The present invention can effectively cooperate in different working modes, so as to realize mixed propulsion and enhance the ability of diverse observation tasks. It has high propulsion efficiency, strong maneuverability, flexibility of bionic propulsion and high efficiency of gliding propulsion.

The invention belongs to the field of marine environmental monitoring and submarine resource exploration, and specifically relates to a shuttle-shaped underwater glider design and control method. A shuttle-shaped underwater glider mainly comprises a streamlined shell body and a posture adjusting module, a buoyancy driving module, a tail vane module and a control communication module which are arranged in the shell body; the appearance design of the whole glider fully considers the influence of water power, a main pressure withstand cabin is roughly of a shuttle shape, and wings and helm pieces are streamlined; the buoyancy driving module is used for changing buoyancy in operation; a pitching mechanism in the posture adjusting module is used for adjusting the pitching posture of a glider body, and a rotating mechanism in the posture adjusting module is used for adjusting the heeling posture of the glider body; the tail vane module can change the steering direction of the glider body on a horizontal surface; when the timing sequences of the three modules are coordinated, the glider can form a zigzag motion trail in a vertical surface or can do spiral rotational motion in a space range; meanwhile, a sensor carried by the glider can be used for acquiring seabed data, and communication equipment can return the data in a real-time manner. The shuttle-shaped underwater glider provided by the invention has the advantages that the size is small, the structure is compact, the navigational speed is high, the time of endurance is long, and the direction controllability is good.

The invention discloses a high-precision integrated navigation positioning method for an underwater glider. The method comprises the steps that output of an inertial measurement unit (IMU) is subjected to rough processing and fine processing; higher-precision data is obtained; data obtained by dead reckoning based on a Runge-Kutta method (RK4) is combined; adaptive Kalman filtering (AKF) and unscented Kalman filtering (UKF) are conducted; the filtered data is fed back to the IMU; an accumulative error of the IMU is corrected; and relatively accurate information such as position, speed and gesture is finally output. The autonomous navigation method for the underwater glider has the advantages of high precision, real-time performance, stability, and the like, so that a whole navigation system can stably operate at long endurance, high precision and low power consumption, the current position and gesture information of an underwater aircraft can be obtained rapidly and accurately, and navigation path and position parameters can be provided for the underwater aircraft.

The invention relates to a low-power control system for underwater gliders and a control method thereof, and the control system comprises a embedded control device, a communication positioning device, a data acquisition device, an energy management device, and a servo control device, wherein the embedded control device is used as the control core, and the data communication interaction is conducted through serial bus, the data acquisition device, and the communication positioning device. The control output terminal of the embedded control device is connected with the servo control device; the embedded control device is connected to the energy management device through an IO interface; the method comprises: starting all driving task; progressing into instruction message waiting and system dormancy if no uncompleted instruction is provided; progressing into system arousal when an instruction message is provided; executing the corresponding instruction when an instruction is provided; concluding the control process. The invention realizes the functions of movement control, work process data acquisition, water surface communication positioning, status monitoring, and emergency ejection of underwater gliders, reduces the power consumption of the system, increases the endurance of underwater gliders, and facilitates equipment connections, and the system is stable and reliable.

The invention discloses an underwater glider utilizing ocean wave energy; a residual buoyancy driving device and a gravity center and gesture adjustment device are arranged in a boat body and supplied with power through storage batteries; a permeable cabin in the middle of the boat body is internally provided with a wing rotation component; output shafts at two sides of a wing rotation motor penetrate through gliding guide slots at two sides above the cabin wall through left and right wing shafts and then extend out of the cabin to fix wings; and the bottom of the wing rotation motor is connected with a generator in a watertight compartment through a transmission connecting rod so as to charge the storage batteries through gliding up and down. according to the underwater glider, the underwater glider and the ocean wave energy are organically fused by using technology; and power generation is carried out through adjusting the gravity center and the gesture of the underwater glider, utilizing the appearance characteristics such as wide gliding wings and long and thin cylindrical boat body of the underwater glider and utilizing the response differences of the two different water power units in wave rounding motion, so that the structure is simple and practical, the work state of power generation operators is stable and the available wave application range is wide.

The invention relates to a water-air amphibious glider capable of vertically taking-off, landing and flying and belongs to the technical field of underwater intelligent robots. The water-air amphibious glider capable of vertically taking-off, landing and flying changes the limitation that an underwater glider with a fixed wing cannot be applied to collaborative observation in air and water and solves the problem that when a multi-rotor wing aircraft flies in the air, transfer efficiency is low, and the flying distance is short. According to the water-air amphibious glider capable of vertically taking-off, landing and flying, a buoyancy adjusting mechanism, a pitching adjusting mechanism and a roll adjusting mechanism are arranged in a main control cabin body in sequence from front to back. A battery bag rotating in the horizontal direction is loaded on the pitching adjusting mechanism, and a battery bag rotating in the vertical direction is loaded on the roll adjusting mechanism. Support horizontal bars parallel to the main control cabin body are arranged on a wing, and the front end and the rear end of each support horizontal bar are each provided with at least one rotor wing. The water-air amphibious glider capable of vertically taking-off, landing and flying can work in water for a long time and a long voyage, vertically take off and land in the air and fly within a large range; and the function that flying in the air and sailing in the water are switched at random can be achieved, and collaborative observation in the air and the water can be completed.

The invention discloses a large-scale heavy-load hybrid driving underwater glider. The large-scale heavy-load hybrid driving underwater glider comprises a glider body, a buoyancy control device, an attitude adjusting device, a folding wing mechanism, an energy module, a main control system, a navigation communication system and a propeller driving system. The main control system controls the buoyancy control device to adjust the buoyancy of the underwater glider, and the attitude adjusting device is integrally connected above the back of the underwater glider to realize the pitch attitude control of the underwater glider. The folding wing mechanism is arranged as a single degree of freedom and comprises a gas spring mechanism, a connecting rod mechanism, a pair of rotating wings and a pairof telescopic wings, wherein the folding wing mechanism is connected with the attitude adjusting device and is fixed in the middle of the glider body and connected with the glider body as a whole. The pair of rotating wings realizes plane rotation under the drive of the connecting rod mechanism, and the pair of telescopic wings realizes stretching and retracting motion. The navigation communication system is used for setting heading and operation tasks. The main control system controls the propeller driving system to realize the propulsion movement and differential motion turning movement.

The underwater glider with complex power source includes successively connected bossing, fuel cell cooling cavity, heat engine cooling cavity, heat engine operation cavity and sealed chassis, which constitute one total sealed cavity. Each of the fuel cell cooling cavity and the heat engine cooling cavity is one sandwiched casing with cooling medium in the sandwich; the heat engine operation cavity is one double sandwiched casing with heat insulating material in the outer sandwich and temperature sensitive material and heat exchanger in the inner sandwich; and the total sealed cavity is provided with square support for fixing magnetic compass, control circuit board, torsion attitude regulating mechanism, pitch attitude regulating mechanism, electric driver and temperature difference driver. The present invention also discloses the two navigation methods of electric driving and temperature difference driving separately.

The invention discloses a retracting and releasing device of an underwater glider and an unmanned submersible vehicle, An underwater glider and an unmanned submersible vehicle retracting and releasingdevice including chassis, A synchronous belt horizontal transmission component is instal on that chassis, A rail is mounted on the chassis, A movable trolley is slidably connected to the rail, and the lower surface of the moving trolley is fixedly connected to the horizontal transmission assembly of the synchronous belt, The movable trolley is provided with a recovery manipulator assembly, the movable trolley is rotatably connected with a retracting and placing tipping frame assembly, a glider is arranged on the retracting and placing tipping frame assembly, and two turnover cylinders are rotatably connected with the retracting and placing tipping frame assembly in a common symmetrical manner between the mobile trolley and the retracting and placing tipping frame assembly. The invention has the advantages of ingenious structure, low cost and use cost, little influence of wind and wave, low probability of equipment damage and personnel casualty, no need of manual rope operation, and large amount of time and energy of staff are saved.

The invention belongs to the field of marine observation associated equipment and discloses a hybrid drive type underwater glider with various working modes. The hybrid drive type underwater glider comprises a shell, horizontal wings, a combination planar antenna, a vertical tail vane, an observation instrument, a fixed battery pack, a mass center adjusting device, a buoyancy adjusting device, anemergency load rejection device and a pump jetting propelling device, wherein the horizontal wings, the combination planar antenna and the vertical tail vane are installed on the outer portion of theshell, the observation instrument, the fixed battery pack, the mass center adjusting device, the buoyancy adjusting device, the emergency load rejection device and the pump jetting propelling device are installed in the shell, and meanwhile, according to the modularized design concept, the shell is designed to be provided with a stem loading cabin, an energy cabin, an attitude adjusting cabin, a buoyancy adjusting cabin and a stern maneuvering cabin. The hybrid drive type underwater glider has the beneficial effects of being low in power consumption, long in cruising range, long in endurance and the like, the flow resisting capacity is remarkably improved, various motion modes are provided, high-accuracy emergency load rejection can be executed, and therefore a target sea area can be observed in a large range and with high accuracy.

The invention relates to the technical field of launching and retrieval of underwater gliders, underwater and surface aircrafts and the like, and relates to a two-dimensional omnibearing launching and retrieval device of an underwater glider and a launching and retrieval method. The corresponding pure mechanical structure comprises a main support, hooping jaw pairs, synchronous cross shafts, synchronous tensile shafts, connecting rods, a spring tensioning mechanism, a movable block stretching mechanism, jaw vice arms and a force removal swivel. The two-dimensional omnibearing launching and retrieval device fulfills the hooping and releasing functions on the underwater glider in a manner that the hooping jaw pairs are matched with the synchronous cross shafts, the synchronous tensile shafts, the connecting rods, the spring tensioning mechanism, the movable block stretching mechanism and the like, so that the underwater glider is launched and retrieved simply quickly. According to the invention, the launching and retrieval functions on the underwater glider are fulfilled through the mechanical structure, the structure is simple and ingenious, maintenance is convenient, operation is simple, the underwater glider is launched and retrieved extremely simply, the risk in the launching and retrieval processes is decreased, and the problems of high costs and high risks in the launching and retrieval processes are solved.

The invention discloses a circular-disc-shaped underwater glider and a working method thereof. The glider comprises a circular-disc-shaped shell, a pressure-resisting shell, a control system, a communication navigation system, a driving system, a sensor system, an energy source system and an external port. The circular-disc-shaped shell made of a buoyancy material covers the pressure-resisting shell and greater buoyancy is provided for the circular-disc-shaped underwater glider, so that effective load is improved. The pressure-resisting shell structure design scheme combining the pressure-resisting shell and a pressure-resisting hollow ring is adopted so that the utilization rate of the inner space of the circular-disc-shaped underwater glider is improved; meanwhile, the quantity of sealing nodes of internal equipment is greatly reduced, more equipment is prevented from being exposed in a deep sea complicated underwater environment, and thus the whole reliability is improved. A gravity center adjusting system is arranged in the pressure-resisting hollow ring, and a force arm and a moment, generated by a slide block, are relatively great; and the posture control efficiency is improved and the inner space of the circular-disc-shaped underwater glider is sufficiently utilized.

The invention provides a hybrid driven buoyancy regulating device for an underwater glider. The hybrid driven buoyancy regulating device comprises a heat exchanger and a buoyancy regulating cabin. A heat exchanger pressure-proof shell is filled with a temperature-sensitive phase-change material. A heat exchanger hose is filled with transmission fluid and connected to a hose plug in a sealing way.The two ends of the heat exchanger pressure-proof shell are connected through a flat head and an oval head, and O-rings are adopted for sealing. The heat exchanger and the buoyancy regulating cabin are connected by adopting pipelines. The buoyancy regulating cabin comprises an accumulator, an internal skin, a bidirectional gear pump, an outer skin, a control circuit board and pipelines. The permeable outer skin and the heat exchanger are suspended outside the glider body to bear the sea water pressure, and the buoyancy regulating cabin is arranged in the glider main shell. The pipelines insidethe buoyancy regulating cabin cooperate with the heat exchanger outside the cabin and the outer skin, and thus the buoyancy is changed. The hybrid driven buoyancy regulating device utilizes the temperature difference energy of the working sea depth and the bidirectional gear pump for driving, the working range of underwater gliding is widened, the working hours are increased, and the reliabilityand the energy utilization rate are improved.

This invention relates to the buoyancy control device of an underwater glider. Most of the current underwater buoyancy control for gliders utilizes the alternative movement of the piston of the hydraulic cylinder anchored by the stepper motor, so as to control the inlet and charge of oil from the oil bag and therefore make it rather difficult to expand its application in deep sea. This invention comprises of those miniature high pressure pump, miniature electromagnetic valve, miniature single direction valve and oil cavity that located inside the pressure bearing housing, and also an oil bag that located outside of the pressure bearing housing. The oil recess comprises of a cavity, inside which a piston is equipped and linked with it closely for motion with two linear potentiometers on the piston. A loop is formed by the oil recess, miniature high pressure pump, miniature single direction valve, miniature electromagnetic valve and an oil bag. Without the interference of the inclining status of the body, it can control the change of the buoyancy force, so as to make the underwater glider sail along the planned route and therefore realize the progress of underwater glider's sailing toward the deep sea.

The invention relates to a working method of an universal underwater vehicle connection charging system. The working method of the universal underwater vehicle connection charging system comprises a connection charging system deploying and recovering step, a step of capturing a vehicle by using the connection charging system and a connection charging system self-power generating energy supplementing step; high-accuracy, high-flexibility and high-success rate mechanical docking, electric wireless charging and data wireless transmission between ocean vehicles, such as an underwater glider, and an underwater connection system under a multi-interference environment are realized; and meanwhile, full-autonomous energy collection of an underwater connection station is realized to guarantee working energy power consumption of the connection station and energy supply to the ocean vehicle.

The invention discloses an emergency ejection device of an underwater glider, comprising an emergency ejection unit and an explosive bolt, wherein the emergency ejection unit comprises an enclosed shell, an emergency ejection electric control unit and an auxiliary counter weight are arranged in the shell, the ignition end of the explosive bolt penetrates the enclosed shell, the emergency ejection electric control unit comprises a water pressure sensor, an output signal of the water pressure sensor is connected with the input end of a voltage comparator to compare with the reference voltage of the submerged depth of the underwater glider, the output end of the voltage comparator is connected with a switching circuit, the input end of the switching circuit is connected with the input end of a relay, and the output end of the relay is connected with the ignition circuit of the explosive bolt. According to the invention, the underwater glider can be floated by emergency ejection when there is a failure or other emergency circumstances during a voyage, and the safe recovery of the underwater glider body can be effectively guaranteed; by arranging the auxiliary counter weight in the enclosed shell, the configuration or adjustment of the underwater glider becomes convenient.

The invention relates to a revolving-ring underwater glider which comprises a machine body and an internal platform mounting structure, wherein a comprehensive control mechanism, a control communication and power system, a revolving wing system and a measurement sensor are mounted in the machine body. The revolving-ring underwater glider is compact and reasonable in structure and convenient to operate; by integration of net buoyance and a gravity center adjustment mechanism into a comprehensive attitude adjustment mechanism, the internal load-bearing space and the system weight are effectively reduced, and the effective load can be increased by about 80 percent, which accounts for 10 to 20 percent of the total load; by the design of revolving wings, the lift-drag ratio of the glider can be effectively increased, and the gliding efficiency can be improved; meanwhile, the glider has steering capacity and the capacity of moving on a horizontal plane; and the maneuverability and the flexibility of the glider are effectively improved.

The invention provides an overwater and underwater hybrid navigation detector which comprises a bow compartment, a buoyancy force regulating compartment, an attitude control compartment, a control communication compartment and a stern compartment which are coaxially connected in sequence, wherein the bow compartment and the stern compartment are non-tight compartments and are communicated with external water; the buoyancy force regulating compartment, the attitude control compartment and the control communication compartment are airtight compartments; a hydrofoil winding and unwinding device is mounted in the bow compartment; a buoyancy force regulating system is mounted in the buoyancy force regulating compartment; the buoyancy force is regulated along with the adding and discharging of oil in an oil bag by an oil pump; an attitude adjusting system is mounted in the attitude control compartment; the centre-of-gravity position is changed by moving the position of a heavy object slider through a motor, then the attitude of an aircraft is changed, and electronic equipment for aircraft control and communication is mounted in the control communication compartment; a steering control system is mounted in the stern compartment. The overwater and underwater hybrid navigation detector has the advantages that characteristics of an underwater glider and a wave glider are realized, the continuous working capacity of the aircraft is improved, and the application scope of the aircraft is expanded.

The invention belongs to the ocean environment monitoring and scouting technical field and particularly relates to an underwater glider. The technical scheme of the combination wing anti-stream-pattern underwater glider is that a front sealing cabin (25), a middle water seeping cabin (23) and a rear sealing cabin (19) are sequentially connected to form a stream-pattern structure. A pair of moving auxiliary wings (6) is installed outside a shell of the front sealing cabin (25), a pair of sweepback wings (8) is installed outside a middle axis horizontal plane of a shell of the middle water seeping cabin (23). The rear sealing cabin (19) is provided with a vertical tail fin (15). When a single fixed sweepback wing is utilized, the maximum horizontal speed of navigation is achieved, wherein the gliding angle is 35 degrees and the lift-drag ratio is 1.5. When the manner combining the fixed sweepback wings and the moving auxiliary wings is achieved, the target is to pursuit the farthest voyage and the gliding angle is 22 degrees and the lifting-drag ratio is 2.5. By changing the combination manner of the gliding wings and flexibly changing gliding parameters, better adaptability is provided for the underwater glider to perform different missions.

The invention discloses a hybrid power underwater glider using battery electric energy and ocean temperature difference energy. The hybrid power underwater glider comprises a front immersion cabin section, a front pressure-resistant cabin section, a middle pressure-resistant cabin section, a rear pressure-resistant cabin section, a rear immersion cabin section, heat exchangers and horizontal wings, wherein the cabin sections are fixedly connected in sequence along a cylindrical rotation axis to form a hybrid power underwater glider body part, the heat exchangers are externally hung on a bellypart of the body, the horizontal wings are horizontally arranged on two sides of the rear pressure-resistant cabin section, the hybrid power underwater glider battery pack has two degrees of freedom of translation and rotation, and can be used for adjusting a pitching attitude angle and a course angle of the underwater glider; a hydraulic device in the main machine body and the heat exchangers form a hydraulic oil path, and in the diving preparation stage of the hybrid power underwater glider, an oil return path works, in the diving gliding stage, a solidification oil path works, in the floating conversion stage, the energy release oil way and the oil pumping oil way work, and in the floating gliding stage, the energy storage oil way works, and the buoyancy driving process is completed bycompounding two forms of energy, namely battery electric energy and ocean temperature difference energy.

The invention discloses an underwater glider attitude control algorithm based on fuzzy PID. The algorithm comprises (1) principle-based design of a fuzzy PID controller, (2) design of the fuzzy PID controller in Matlab, (3) compiling of a control program of the fuzzy PID controller, (4) establishment of a structural diagram of the fuzzy PID controller, and (5) establishment of a control system, operation of the control program of the fuzzy PID controller, and implementation of algorithm control. The algorithm disclosed by the invention can solve problems in long delay of an attitude angle, large inertia control, adjustment and setting of attitude angle real-time control parameters, and attitude angle strong-coupling control. The algorithm has the advantages of short duration of research and development, short duration of testing, low cost, effective control, reduction of attitude angle adjustment time, and reduction of steady-state errors. From the long run, battery power consumption can be reduced, and battery time of a glider can be enhanced through effective attitude angle control.

The invention discloses an underground glider energy source system and a control method thereof. The energy source system mainly comprises a proton exchange membrane fuel cell, a supercapacitor and a temperature difference thermomotor; the proton exchange membrane fuel cell provides continuous power to small-power continuous loading of an underground glider, and excess electric energy of the proton exchange membrane fuel cell is stored in the supercapacitor through a switch P; the supercapacitor uses the stored electric energy to provide power to large-power intermittent loading of the underground glider through a switch Q; and generating residual heat of the proton exchange membrane fuel cell and cold sea water work jointly to drive the temperature different thermomotor and further drives the underground glider to glide. The energy source system not only provides compact and efficient electric source for electric loading of the underground glider, but also provides excellent heat source for the temperature difference thermomotor, so that the underground glider has the operation capacity with all seawater, low energy consumption and long voyage.

The invention relates to high-cruise-ability self-propelling systems used for marine environment monitoring and provides a sea glider driven by wave force. The sea glider comprises two floater base bodies, two solar panels, a base body connecting plate, a glider base frame and a cable, wherein the two floater base bodies are connected through the base body connecting plate, the base body connecting plate and each floater base body are fixedly connected through a plurality of fastening screws, a drying box is fixedly connected to the base body connecting plate through a plurality of fastening screws, a sealing cover is installed at the upper end of the drying box, and drying box partition boards are installed in the drying box. The sea glider driven by wave force has the advantages that the whole glider is driven to move forwards through the interaction force between underwater glider wings and water currents, and extra secondary power supply is not needed; electric energy generated by the solar panels is only supplied to all instruments and does not need to serve as a driving energy source, and therefore the cruising ability of the glider is greatly improved.