基于牛顿力学积分的水下滑翔机群协同控制研究

The study on glider group cooperative control based on Newton mechanical integration

水下滑翔机是开展海洋无人移动观测的重要平台,其实际航行轨迹往往与预设路径存在较大差异,多台水下滑翔机协同观测时,难以始终保持预设的组网阵列。本研究提出一种基于牛顿力学积分的水下滑翔机群协同控制算法,根据水下滑翔机群出、入水的异步性调节水下滑翔机入水前的运动参数。基于对水下滑翔机受力分析,利用牛顿力学积分还原水下滑翔机在海洋中的运动状态,进而运用水下滑翔机群的协同控制算法同时约束多台水下滑翔机的运动,并开展仿真实验。实验结果证明该算法能够使多台水下滑翔机较好地保持预设组网阵列,从而可对目标海域进行协同观测。

The underwater glider is an important platform for unmanned motion observation of the ocean.However,it is difficult to maintain the preset net array when multiple underwater gliders cooperate in observation.In this study,an underwater glider group cooperative control algorithm based on Newton mechanical integration was proposed to adjust the motion parameters of the glider group before entering the water according to its asynchronous entering and leaving the water.Based on the force analysis of the underwater glider,the motion state of the underwater glider in the ocean was restored by Newton mechanics integral.The cooperative control algorithm of the underwater glider group was used to constrain the motion of several underwater gliders at the same time,and the simulation experiment was carried out.The results of experiment show that the algorithm can keep the preset net array of multiple underwater gliders well,so that the target sea area can be observed cooperatively.