水下滑翔机中尺度过程空间采样运动仿真  

Motion Simulation of Spatial Sampling of Mesoscale Processes for Underwater Gliders

作　　者：秦悦 王冠琳 官晟 王岩峰 丁军航[1,6] QIN Yue;WANG Guan-lin;GUAN Sheng;WANG Yan-feng;DING Jun-hang(School of Automation,Qingdao University,Qingdao 266071,China;First Institute of Oceanography,Ministry of Natural Resources,Qingdao 266061,China;Key Laboratory of Marine Science and Numerical Modeling,Ministry of Natural Resources,Qingdao 266061,China;Shandong Key Laboratory of Marine Science and Numerical Modeling,Qingdao 266061,China;Laboratory for Regional Oceanography and Numerical Modeling,Pilot National Laboratory for Marine Science and Technology,Qingdao 266237,China;Shandong Key Laboratory of Industrial Control Technology,Qingdao 266071,China)

机构地区：[1]青岛大学自动化学院,山东青岛266071 [2]自然资源部第一海洋研究所,山东青岛266061 [3]自然资源部海洋环境科学与数值模拟重点实验室,山东青岛266061 [4]山东省海洋环境科学与数值模拟重点实验室,山东青岛266061 [5]青岛海洋科学与技术试点国家实验室区域海洋动力学与数值模拟功能实验室,山东青岛266237 [6]山东省工业控制技术重点实验室,山东青岛266071

出　　处：《水下无人系统学报》2022年第4期474-484,513,共12页Journal of Unmanned Undersea Systems

基　　金：“全球变化与海气相互作用(二期)”专项(GASI-01-ATP-STwin);国家重点研发计划资助项目(2016YFC0301103)。

摘　　要：海洋中尺度过程包括涡旋、锋面和内波等现象,是海洋中一类重要的动力过程,在全球气候变化、海洋能量热量和物质输送过程中起着重要作用。对此类过程的观测与研究,在海洋资源勘测、海洋生物探索以及军事等领域也有着较为重要的现实意义。水下滑翔机已成为近年来观测中尺度过程的重要工具之一。文中以海燕-Ⅱ自主式无人水下滑翔机作为研究对象,首先,根据动量和角动量定理建立了其六自由度动力学模型;然后,利用Simulink仿真对该模型进行了验证,由仿真结果可知,所提出的动力学模型能够较好地实现运动仿真;最后,针对几种中尺度过程不同的探测要求,设计了水下滑翔机的运动方案,并进行了空间采样运动的仿真,仿真结果可为日后实际观测应用提供参考和优化参数。Marine mesoscale processes, including vortices, fronts, and internal waves, are a class of important dynamic processes in the ocean that have a significant influence on global climate change and the transport of marine energy, heat, and materials. The observation and investigation of such processes also have important practical significance in the field of marine resources, organism exploration, and military domains. Underwater gliders have recently become important devices for observing mesoscale processes. “Petrel-Ⅱ,” a type of autonomous underwater glider, is considered the main focus of this study. First, a dynamics model is established based on the momentum and angular momentum theorems. Simulink is then used to confirm the feasibility of the proposed model. According to the simulation results, the proposed dynamic model can realize motion simulation well. Finally, based on the different requirements for the detection of several mesoscale processes, different sampling motion schemes are presented, and a motion simulation of spatial sampling is provided. This study could provide a reference and optimization parameters for future practical observations and applications.

关 键 词：水下滑翔机 中尺度过程 海燕-Ⅱ 空间采样 运动仿真 

分 类 号：TJ630.1[兵器科学与技术—武器系统与运用工程] U674.7[交通运输工程—船舶及航道工程] TB71.2[交通运输工程—船舶与海洋工程]