受最速降线启发的水下滑翔机运动轨迹设计

doi:10.3901/JME.2024.21.243

机械工程学报 ›› 2024, Vol. 60 ›› Issue (21): 243-253.doi: 10.3901/JME.2024.21.243

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受最速降线启发的水下滑翔机运动轨迹设计

吴宏宇^1,2, 牛文栋³, 宋扬³, 郝宇星^1,2, 王树新³, 阎绍泽^1,2

1. 清华大学机械工程系北京 100084;
2. 清华大学高端装备界面科学与技术全国重点实验室北京 100084;
3. 天津大学机构理论与装备设计教育部重点实验室天津 300072

收稿日期:2023-11-06 修回日期:2024-04-08 发布日期:2024-12-24
通讯作者: 阎绍泽，男，1964年出生，博士，教授，博士研究生导师。主要研究方向为智能仿生与机械动力学。E-mail：yansz@mail.tsinghua.edu.cn
作者简介:吴宏宇,男,1993年出生,博士后,清华大学水木学者。主要研究方向为机械系统动力学、水下滑翔机和多学科优化。E-mail:hongyu@buaa.edu.cn;王树新,男,1966年出生,中国工程院院士,博士,教授,博士研究生导师。主要研究方向为智能机器人技术、机械系统动力学与控制和先进制造技术。E-mail:shuxinw@tju.edu.cn
基金资助:
国家重点研发计划资助项目(2022YFB3403601)。

Motion Trajectory Design for Underwater Gliders Inspired by Brachistochrone

WU Hongyu^1,2, NIU Wendong³, SONG Yang³, HAO Yuxing^1,2, WANG Shuxin³, YAN Shaoze^1,2

1. Department of Mechanical Engineering, Tsinghua University, Beijing 100084;
2. State Key Laboratory of Tribology in Advanced Equipment, Tsinghua University, Beijing 100084;
3. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072

Received:2023-11-06 Revised:2024-04-08 Published:2024-12-24

摘要/Abstract

摘要： 水下滑翔机作为一种低能耗海洋探测平台，近年来受到广泛关注。随着技术日渐成熟，滑翔机应用场景持续拓展。面向水下定点探测任务，受最速降线问题中物块驱动原理启发，研究了滑翔机运动轨迹创新设计方案。在水流强度较大浅水区域，滑翔机将净浮力调为较大值，获得足够速度，快速通过该区域，保证运动精度。在水流强度较弱深水区域，滑翔机将净浮力调为较小值，同时调节可动质量块位置、减小俯仰角，获得足够水平位移。在此基础上，基于动力学模型和第二代非劣排序遗传算法开展了滑翔机控制参数优化以确定最优轨迹设计方案，优化目标是最小化滑翔机到达目标探测区域的位置误差和能耗，约束条件是位置误差和运动时长不超过许用值。以“海燕II”水下滑翔机为研究对象开展仿真研究，数值算例表明，所提出轨迹设计方案比滑翔机传统工作模式更适合水下定点探测任务。

关键词: 水下滑翔机, 动力学分析, 轨迹设计, 控制参数优化, 运动精度

Abstract: As an ocean exploration platform with low energy consumption, underwater glider has received wide attention in recent years. With the maturity of the glider technology, its application scenarios continue to expand. For the underwater fixed-point exploration mission of the glider, the novel design scheme of motion trajectory, inspired by the block driving principle of brachistochrone problem, is studied. In the shallow water area with the higher current intensity, the glider adjusts its net buoyancy to a larger value, which will make the glider obtain the larger velocity to quickly pass through this area and ensure the motion accuracy. In the deep water area with the smaller current intensity, the glider adjusts its net buoyancy to a smaller value and changes the position of movable mass block to reduce the pitch angle and obtain the sufficient horizontal displacement. On this basis, the glider control parameter optimization to determine the optimal trajectory design scheme is executed by using dynamic model and Non-dominated sorting genetic algorithm II. The optimization objective is to minimize the position error and energy consumption of the glider reaching the target exploration area, and the constraint condition is that the position error and motion time do not exceed their allowable values. The Petrel-II glider is taken as the research object to carry out the simulation research, and the numerical examples illustrate that the proposed trajectory design scheme is more suitable for underwater fixed-point exploration mission than the conventional glider operation mode.

Key words: underwater glider, dynamic analysis, trajectory design, control parameter optimization, motion accuracy

中图分类号:

TH113

吴宏宇, 牛文栋, 宋扬, 郝宇星, 王树新, 阎绍泽. 受最速降线启发的水下滑翔机运动轨迹设计[J]. 机械工程学报, 2024, 60(21): 243-253.

WU Hongyu, NIU Wendong, SONG Yang, HAO Yuxing, WANG Shuxin, YAN Shaoze. Motion Trajectory Design for Underwater Gliders Inspired by Brachistochrone[J]. Journal of Mechanical Engineering, 2024, 60(21): 243-253.

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受最速降线启发的水下滑翔机运动轨迹设计

Motion Trajectory Design for Underwater Gliders Inspired by Brachistochrone

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