Research On System Design And Key Technology Of Wave-compound-driven Marine Profiling Mobile Observation Buoy

Human exploration of the ocean requires a wide range of observation equipment.Autonomous underwater vehicles and surface vehicles provide new methods for developing and utilizing oceans,greatly expanding the human ability to explore,understand,and exploit the ocean.With the continuous deepening of marine scientific research,the demand for stereoscopic observation of the marine environment is becoming more and more urgent.The long-term,high-resolution,and simultaneous observation of the air-sea interface and ocean profile puts forward higher requirements on the performance of marine vehicles.The total amount of energy carried by marine vehicles limits its observation range and endurance.Wave energy has the characteristics of high energy density,easy capture,uniform distribution,and almost no diurnal change,which is an ideal energy source for marine vehicles.This paper proposes a wave-compound-driven method that combines wave-driven profile observation technology and flapping foil propulsion technology,and design a wavecompound-driven marine profiling mobile observation buoy.The buoy can conduct long-term,large-scale stereoscopic simultaneous observation of the marine environment.The buoy prototype has completed 150 consecutive days of continuous wave-driven profile observations with a total of more than 3,500 profiles,and has conducted sea navigation trial.The experiment verified the wave compound driving principle and the feasibility of the mobile observation buoy based on this principle.In the context of the key technology research and prototype development of the buoy,this article mainly carries out the following work:(1)Design the buoy scheme.We expound the wave-compound-driven principle and propose a wave-compound-driven profile mobile observation buoy design objectives and the overall program.Based on the idea of reconfigurable,three buoy configuration schemes are completed.The detailed design of the surface unit,profile unit,underwater propulsion unit,climbing umbilical cable,and control system have been carried out.(2)Investigate the performance of the wave-driven profiling movement.This paper studies the principle of wave-driven profiling movement,uses the F-K method to analyze the vertical wave force of the surface unit and establishes the dynamic model of the profile unit.Combined with numerical simulation and wave tank test,the influence of wave conditions,net buoyancy,and quality of the profile unit on the wave driving performance are analyzed.(3)Investigate the propulsion performance of the semi-active tandem flapping foil.Based on the Newton-Euler method,Runge-Kutta method,sliding grid method,and user defined functions,we establish a simulation model for semi-active tandem flapping foil and introduce the simulation flow chart.The effects of motion parameters,stiffness coefficient,limit angle,mass ratio,damping coefficient,wake vortex,foil spacing,and amount on the propulsion performance of flapping foil and the influence mechanism are analyzed.We design an experiment device and conduct the propulsion performance of the flapping foil in the circulating water tank.(4)Design the profile data transmission,low power consumption,and navigation control methods of the control system.Based on the characteristics of the reciprocating profile movement of the profile unit and defined the water surface unit as a relay point,we design a profile data relay transmission method and conduct the experimental verification.Combining the independent dual power supply solution and MCU standby mode,we carry out the low-power design of the control system and conduct the low-power performance tests in the laboratory and sea trial.Based on the LOS guidance algorithm and the fuzzy PID controller,the path tracking control algorithm of the profiling mobile observation buoy is designed,and the navigation performance of the method is analyzed through simulation and experiment.(5)Prototype development and sea trial.The prototype is developed based on the detailed design and research of key technologies of wave-compound driven profiling mobile observation buoy.We have carried out the sea trial of anchor-type wave-driven profile observation performance,mobile-type wave-driven profile observation performance,wave-driven self-propelled performance,and navigation control performance of the buoy according to different configuration schemes.