Motion model and control strategies for an underwater glider

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	Motion model and control strategies for an underwater glider
	Yu JC(俞建成); Hu ZQ(胡志强); Gu HT(谷海涛); Zhang FM(张福民)
	2010
会议名称	20th International Offshore and Polar Engineering Conference, ISOPE-2010
会议日期	June 20-25, 2010
会议地点	Beijing, China
关键词	Drag Energy utilization Fluid dynamics Hydrodynamics Scheduling
页码	295-301
中文摘要	Underwater gliders are novel underwater sensing platforms with mobility, controllability and long endurance that are essential for data collection for oceanographic research. In this paper, the basic gliding model of an underwater glider developed by the Shenyang Institute of Automation (SIA), Chinese Academy of Sciences (CAS) is established, and a class of control strategies are investigated. We first establish a motion model by studying the steady state gliding motion in the vertical motion plane based on Graver, 2005. We then compute the minimum gliding path angle and the maximum horizontal speed. To identify the fundamental motion parameters of the underwater glider such as the drag coefficients, we compute the hydrodynamic drag force, lift force and toque as functions of attacking angles using the CFX hydrodynamic computing software. Furthermore, we compute the optimal gliding path angle to achieve the maximum gliding range given battery capacity. We then propose a scheduling strategy to reduce energy consumption in sensors. This scheduling strategy automatically adjusts sampling frequency based on the profile data collected. We also propose two practical strategies that help the glider to cross strong steady flow. The first strategy aims for minimum time and the second aims for the shortest distance reaching the next waypoint, and real-time estimated current are used in both strategies. Copyright © 2010 by The International Society of Offshore and Polar Engineers (ISOPE).
收录类别	EI
产权排序	1
会议主办者	International Society of Offshore and Polar Engineers (ISOPE); China National Offshore Oil Corporation (CNOOC); SK Energy
会议录	Proceedings of the International Offshore and Polar Engineering Conference
会议录出版者	International Society of Offshore and Polar Engineers
会议录出版地	Cupertino, CA
语种	英语
ISSN号	1098-6189
ISBN号	978-1-88065-377-7
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/7825]
专题	沈阳自动化研究所_水下机器人研究室
推荐引用方式 GB/T 7714	Yu JC,Hu ZQ,Gu HT,et al. Motion model and control strategies for an underwater glider[C]. 见:20th International Offshore and Polar Engineering Conference, ISOPE-2010. Beijing, China. June 20-25, 2010.