强扰动环境下水下滑翔机编队稳定性分析  

Stability analysis of underwater glider fleet under strong disturbance

作　　者：张润锋 杨绍琼 牛文栋 杨秀竹 高维强 ZHANG Run-feng;YANG Shao-qiong;NIU Wen-dong;YANG Xiu-zhu;GAO Wei-qiang(Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education,School of Mechanical Engineering,Tianjin University,Tianjin 300350,China;Qingdao Institute for Ocean Engineering of Tianjin.University,Qingdao 266237,China;The Joint Laboratory of Ocean Observing and Detection,Pilot National Laboratory for Marine Science and Technology(Qingdao),Qingdao 266237,China)

机构地区：[1]天津大学机械工程学院机构理论与装备设计教育部重点实验室,天津300350 [2]天津大学青岛海洋技术研究院,山东青岛266237 [3]青岛海洋科学与技术试点国家实验室海洋观测与探测联合实验室,山东青岛266237

出　　处：《舰船科学技术》2020年第12期67-71,共5页Ship Science and Technology

基　　金：国家重点研发计划(2016YFC0301100,2017YFC0305902,2019YFC0311803)资助项目;国家自然科学基金优秀青年科学基金资助项目(51722508);青年科学基金资助项目(11902219);天津市自然科学基金资助项目(18JCQNJC05100,18JCJQJC46400);“鳌山人才”培养计划(2017ASTCP-OS05,2017ASTCP-OE01);**预研教育部联合基金资助项目(6141A02011906-1);山东省支持青岛海洋科学与技术试点国家实验室重大科技专项(2018SDKJ0205)

摘　　要：随着海洋观探测技术的发展和日趋成熟,单一水下无人潜航器的应用已不能满足广域数据采集或军事探测任务的需求,因此,水下无人潜航器的编队协作成为发展的必然趋势。水下滑翔机作为一种依靠浮力驱动的新型水下无人航行器,具有广泛的军民应用前景。然而,在受到外界攻击或强气象条件扰动时,水下滑翔机编队必须进行动态变换以实现稳定构型,因此本文针对水下滑翔机编队在强扰动环境下多种构型的稳定性进行分析。首先,对目前国内外水下滑翔机编队应用的现状进行回顾,并介绍水下滑翔机的稳定性研究进展。其次,考虑编队队形的动态变化,提出一种基于复杂网络理论的稳定性评估方法,采用领航-跟随者对编队分别建立有无扰动下的运动学模型。最后采用实例分析,分别进行3种水下滑翔机编队构型稳定性的研究,验证了不同编队构型在强扰动环境下的稳定性。With the development and maturity of ocean observation and detection technology,the application of single underwater unmanned vehicle can no longer meet the needs of wide area data acquisition or military detection tasks.The formation cooperation of underwater unmanned vehicles has become an inevitable trend of development.As a new type of underwater unmanned vehicle driven by buoyancy,underwater glider has a wide range of military and civilian applications.However,when disturbed by external attacks or strong meteorological conditions,the formation of underwater gliders must be dynamically adjusted to achieve a stable configuration.Therefore,the stability of various configurations of underwater gliders in a strong disturbance environment is analyzed in this paper.First of all,a review of application about multiple underwater gliders is introduced.Secondly,considering the dynamic change of formation formation,a stability evaluation method based on complex network theory is proposed.Then,the kinematics model of formation with or without disturbance is established based on leader-follower method.Finally,the stability of three underwater glider formation configurations is studied by case analysis,which verifies the stability of different formation configurations in strong disturbance environment.

关 键 词：水下滑翔机 编队构型 稳定性指标 强扰动环境 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]