摘要
We propose a method to establish a dynamic model for a wave glider, a wave-propelled sea surface vehicle that can make use of wave energy to obtain thrust. The vehicle, composed of a surface float and a submerged glider in sea water, is regarded as a two-particle system. Kane＇s equations are used to establish the dynamic model. To verify the model, the design of a testing prototype is proposed and pool trials are conducted. The speeds of the vehicle under different sea conditions can be computed using the model, which is verified by pool trials. The optimal structure parameters useful for vehicle designs can also be obtained from the model. We illustrate how to build an analytical dynamics model for the wave glider, which is a crucial basis for the vehicle＇s motion control. The dynamics model also provides foundations for an off-line simulation of vehicle performance and the optimization of its mechanical designs.
水波滑翔器是一种能够利用海面波浪起伏获得前进动力的海面移动装置,本文研究一种该装置的动力学建模方法。水波滑翔器由水面浮子和水下滑翔装置两部分构成,可视为一个双质点系统。本文采用Kane方程建立该系统的动力学模型,并提出一种水池试验装置来测试模型的有效性,得到了滑翔器在不同海况条件下的速度性能。同时,该模型还可用于优化滑翔器的结构参数。本文提出的水波滑翔器动力学模型具有解析形式,是滑翔器运动控制得以实现的前提,也为滑翔器离线运动规划和装置结构优化提供了重要基础。
基金
Project supported by the National Natural Science Foundation of China （Nos. 51305396 and U1509210） and the Fundamental Research Funds for the Central Universities, China
