Study On Motion Control Of Flying Wing Underwater Glider In Vertical Plane

Flying wing underwater glider is a new type of underwater glider,with the advantages of high glide ratio and large loads,and the research and development on it is of great significance to the completion of large-scale and long-term marine monitoring.The main research problems of relevant fields are glider dynamic behavior,performance prediction,motion controlling,regulating devices and energy consumption issues.For flying wing underwater glider is a new type of underwater glider,we should also study the above problems.Vertical motion is the glider’s primary working state.Motion control is the basis of the task completion of underwater glider,and the analysis of performance is the basis and reference of research on motion control.Facing the above problems,solutions as follows:Firstly,this paper analyzes the system and its constitution and layout of the flying wing underwater glider,and then establishes the vertical plane motion equation of the flying wing underwater glider based on the momentum theorem and the moment of momentum theorem.The establishment process takes into account the impacts of characteristics and the arrangement of the internal adjustment system on the glider movement,and considers the front/aft asymmetry of flying wing body.The whole modeling process minimizes the effect of simplification on the accuracy of the model.On the basis of this model,the correlation parameter equilibrium relation of the vertical plane steady-state navigation is derived according to the steady-state condition.Secondly,this paper designs the adjustment system of the flying wing underwater glider.The hydrodynamic coefficients in the kinetic model are obtained by calculation,and the relationship between the power of the regulating system and the navigation parameters is obtained by the test.On this basis,the Simulink simulation system of the vertical motion of the flying wing glider is set up.The relationship between the angle of the vertical plane,the speed and the control quantity adjustment are studied.The free response,stability and maximum gliding state of the glider are simulated and analyzed.According to the system parameters of the glider,the vertical energy consumption model of the glider is estimated.The parameter sensitivity of the energy consumption model is analyzed based on the Sobol’Global Sensitivity Analysis,and the sensitivity and contribution rate of the motion parameters on the energy consumption are obtained.Thirdly,the paper discusses the various types of vertical surface work of the flying wing glider,analyzes the control strategy for the trajectory switching,the submerged switching and the landing,and designs the motion control system of the underwater glider combining the fuzzy PID algorithm(with good control ability for the nonlinear system).For the characteristics of state transition between submerged switching and bottoming control and the requirement of stability of underwater glider,a tracking differential fuzzy PID control method with arranging transition process function for flying wing glider is proposed.Through the simulation analysis,the effect of the above control method is verified.Finally,this paper designs and realizes the underwater control system and the surface monitoring system of the underwater glider,and complete the pool test to verify the performance of the flying wing underwater glider and the effect of the controller.The gliding performance,trajectory switching,cycle submerged switching and landing pool test have verified the advantages of the large gliding ratio of the flying wing underwater glider and the effectiveness of the control methods mentioned in this paper,which provides theoretical and data basis for practical application and motion planning strategy in the future.