波浪滑翔器的动力学建模与自主控制方法研究

Wave glider is a class of novel marine vehicle unique in its ability to harness wave energy for platform propulsion, and it has great advantages in large scale, long time and low cost marine environment monitoring. Focusing on the maneuverability and autonomy of the wave glider, we concentrate on the dynamic transmission mechanism of wave glider. Considering influences of dynamic characteristics of elastic states of lanyard, a time-sharing multi-body dynamic model will be finely established. Considering the influence of the unique multi-body structure of wave glider on control characteristics and large span of working environments, we explore the adaptive control method by fuse yawing information of float and glider. Considering currents influence wave glider deeply and wave glider is weak maneuvering, we plan to analyze the influence mechanism of current disturbances on wave glider in path tracking task, then a global prediction of current field and a self-propelled speed model will be established. An innovative path planning method will be used to obtain the optimal path of time cost with physical reachability. Simulation experiments, tank trials and sea trials are listed in plan to verify the motion ability and autonomous control ability of wave glider.

波浪滑翔器作为一种波浪能推进的新概念海洋航行器，在大范围、长时间、低成本的海洋监测中具有极大优势。本研究针对波浪滑翔器的机动性与自主性问题，重点开展波浪滑翔器的动力学传动机理研究，考虑系索张紧放松状态对动力学特性的影响，建立分时段精细化的多体系统动力学模型；考虑波浪滑翔器独特的多体结构对控制特性的影响和波浪滑翔器工作环境跨度大的特点，探究多体艏摇信息融合自适应控制方法；考虑波浪滑翔器受海流干扰严重而自主机动性较弱的特点，分析海流干扰对波浪滑翔器航迹跟踪的影响机理，建立全局预测海流场和自主驱动航速模型，采用创新的路径规划方法，获得物理可达且时间成本最优的路径。通过仿真、水池和海上试验，验证波浪滑翔器高效运动和自主控制能力。

波浪滑翔器作为一种波浪能推进的新概念海洋航行器，在大范围、长时间、低成本的海洋监测中具有极大优势。本研究针对波浪滑翔器的机动性与自主性问题，重点开展波浪滑翔器的动力学传动机理研究，考虑系索张紧放松状态对动力学特性的影响，建立分时段精细化的多体系统动力学模型；考虑波浪滑翔器独特的多体结构对控制特性的影响和波浪滑翔器工作环境跨度大的特点，探究浮潜多体艏向信息融合的航向控制；考虑波浪滑翔器受海流干扰严重而自主机动性较弱的特点，分析海流干扰对波浪滑翔器航迹跟踪的影响机理，采用创新的路径规划方法，获得物理可达且时间成本最优的路径。通过仿真、水池和海上试验，验证波浪滑翔器高效运动和自主控制能力。