水下滑翔机具有低成本、长航程、自主性强、可重复使用等优点，广泛应用于各种海洋现象观测。为使水下滑翔机观测达到对海洋现象进行立体化、多维化和精确化的描述，在操控中提高水下滑翔机出水位置的预测精度尤其重要，而海流是影响运动轨迹的重要环境因素。本文以“海燕-Ⅱ”为研究对象，首先建立考虑海流与浮力损失的数学模型，之后利用海试数据验证数学模型的可靠性。通过Simulink仿真分析浮力损失与海流对水下滑翔机出水位置预测的影响，进而引入深平均流算法并实现了算法在螺旋桨推进模式下的应用。最后通过海试运动周期验证了加入深平均流后，对于水下滑翔机出水点的预测精度显著提高。
Underwater gliders have the advantages of low cost, long range, strong autonomy and repeatability, and are widely used in the observation of various ocean phenomena. In order to achieve three-dimensional, multi-dimensional and precise description of ocean phenomena, it is important to improve the prediction accuracy of underwater glider outlet position in operation, ocean current is an important environmental factor affecting the trajectory of motion. Taking "Pretel-Ⅱ" as the research object, a mathematical model considering current and buoyancy loss is established, and the reliability of the mathematical model is verified by sea trial data. The influence of buoyancy loss and sea current on water outlet position prediction is analyzed by Simulink simulation, and then the algorithm of deep average current is added and applied in propeller propulsion mode. Finally, the prediction accuracy of underwater glider outlet point was significantly improved after adding the deep average flow through the sea test period.
2023,45(3): 66-73 收稿日期：2022-07-08
DOI：10.3404/j.issn.1672-7649.2023.03.012
分类号：TJ630.1；TB71.2
基金项目：重点研发计划（2021YFC3101105）；专项 (GASI-01-ATP-STwin); 基本科研业务费项目（GY0222G02）
作者简介：门腾飞(1997-),男,硕士研究生,研究方向为智能控制
