Motion model and control strategies for an underwater glider
文献类型：会议论文
| 作者 | Yu JC(俞建成) ; Hu ZQ(胡志强); Gu HT(谷海涛); Zhang FM(张福民)
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| 出版日期 | 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 |
| 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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