Research On Motion And Control Of Wave Glider

Wave glider is a new wave-powered autonomous ocean surface vehicle,which is composed of a submerged glider connected to a surface floater via a tether.Equipped with solar panel and battery as well as some dedicated sensors for communication,data collection and heading control,the wave glider is able to achieve long duration missions.A 4-DOF(degree-of-freedom)mathematical model of the wave glider is established using Newton-Euler approach.The second-order wave drift force on the horizontal plane and the first order wave force on the vertical direction are considered.The hydrodynamic parameters were calculated using AQWA based on potential flow theory and empirical formula.Based on this model,a time domain simulation program is established using Simulink.The sensitivity analysis of the motion performance,including the speed,the tether tension,the thrust of the submarine wings to the waves and current as well as the heading control performance of the wave glider to the sea state are studied.Besides,An intelligent fuzzy self-tuning PID control strategy is designed with the expertise of operators for the wave glider heading control.The conventional PID controller is also developed as the benchmark.The performance of the two controllers has been compared based on the simulation results.Finally,communication control system of the wave glider is designed with consideration including the overall design scheme of the system,the selection design of system hardware,the development of shore-based monitoring software based on C#.NET framework and the design of ship-borne system software based on ROS.