Research On Design Method Of Optimal Energy Consumption For Underwater Glider Based On Sensitivity Analysis

As a kind of mobile observation platform,underwater glider has been widely used in the field of military exploration and marine research because of its strong concealment and long operational duration.At present,most underwater gliders use battery as the energy source,and the gliding movement of zigzag is realized by the buoyancy and attitude adjustment.Energy carrying capacity and energy consumption are the decisive factors for the duration and gliding range of underwater glider.Therefore,the research of low power technology is of great significance for expanding the application range of underwater glider and enhancing its application value.In order to adequately understand the energy consumption situation and the endurance ability of the underwater glider,in this paper,based on the Petrel-II underwater glider developed independently by Tianjin University,the relationship between multiple parameters and the energy consumption in a single profile and the gliding range is studied and sensitivity analysis of a large number of parameters is carried out to identify the key parameters.At the same time,this paper optimized these key parameters and gave the optimal solution of energy consumption in a single profile as well as the gliding range.The research results will provide theoretical guidance for setting navigation parameters and designing body structure.The main contributions are summarized as follow:(1)The dynamic model of the underwater glider is established based on the Newton-Euler equations and combining the working process and the experimental data,the energy consumption model of a single profile in the vertical plane under the condition of uniform motion is formed by analyzing the energy consumption of PetrelII subunits.The accuracy of the model is verified by sea trial data.In order to make it more complete,the model is modified by adding the energy consumption generated by roll adjustment,and the energy consumption model under three dimensional motion is established.Finally,the range model is deduced.(2)According to the theoretical calculation and statistical methods,the range and distribution of the parameters to be analyzed are determined and the first order sensitivity coefficient and the total sensitivity coefficients of the 14 parameters,are obtained,including the navigation parameters,the hydrodynamic coefficients and the control parameters.So,the influence on energy consumption and gliding range is quantified when the parameters fluctuate.In addition,the sample sizes that relatively optimizes is given when the result is convergent by calculating the sensitivity coefficients of different samples sizes.(3)According to the sensitivity analysis results,the key parameters are selected,and the optimal values of energy consumption and gliding range are solved by genetic algorithm.The solution of the corresponding parameters is given,which verifies the feasibility of the genetic algorithm.In the current design constraint of Petrel-II,the relationships between speed,depth,gliding angle and single profile energy consumption as well as the gliding range are analyzed.Then the corresponding optimal parameter values are obtained.The results of the research will provide theoretical guidance for the Petrel-II detailed observation and long range mission.