用于寻找海底热液硫化物的Glider群编队仿真  

Simulation for Seafloor Massive Sulfides' Hunting Using Glider Fleet's Cooperative Formation

作　　者：金久才[1] 张杰[1] 官晟[1] 王岩峰[1] 

机构地区：[1]国家海洋局第一海洋研究所

出　　处：《系统仿真学报》2012年第3期570-574,共5页Journal of System Simulation

基　　金：国家863计划资助项目(2006AA09A307);海洋一所基本科研业务费专项资金项目(2008T29)

摘　　要：海底热液硫化物的寻找是一个富有挑战性的问题。依据以水下滑翔机(Glider)群采用巡航方式大范围寻找海洋热液羽状分布并对疑似的热液喷口进行进一步确认的方案,基于耦合相位谐振子模型,发展了相应的"齐头并进"式平行编队和同心圆形编队的协作控制策略。变速度粒子模型的"齐头并进"式平行编队能够解决粒子平行编队的空间运动的步调不一致问题,对应于Glider群以巡航模式大范围搜寻热液羽状分布。将同心双圆环编队和Glider的垂向上升下潜运动叠加可以仿真三维圆锥编队,该方式较单圆环编队能够较快、方便地捕捉热液喷口区域的锥形扩散特征。仿真结果表明控制策略能够比较好地完成寻找海底硫化物的所设计的相应编队模式。The hunting of seafloor massive sulfides（SMS） is a challenge issue.According to the designed plan that a fleet of gliders was operated to search hydrothermal plume by cruising motion firstly and the suspected hydrothermal vents were farther validated,the cooperative control strategies for ＂hank for hank＂ parallel formation and concentric-circles formation were developed based on the model of coupled-phase oscillators.The ＂hank for hank＂ parallel formation for variable velocity can solve the problem of disagreement step,which is used to search the plume in vast area by the fleet of gliders.The three-dimensional coniform formation can be simulated by adding concentric-double-circles formation and the glider＇s diving,which can capture the diffused feature of alike-coniform hydrothermal vents rapidly and conveniently in contrast with a singular circular formation.The results of simulation illustrate that the designed formation pattern for hunting of SMS can be achieved suitably by the control strategies.

关 键 词：海底热液硫化物 群编队 耦合相位谐振子 Gliders 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]