Research On The General Technology Of Wave Glider

Wave glider is a new type of autonomous surface platform with unique capabilities for persistent observation in a variety of marine environments,consists of a surface boat,a submerged glider and a tether which connects them.Rely on its unique form,it can transform the wave power to forward propulsion,rely on the solar panels which were established on the upper deck,it can gain enough electric power.Compared with the traditional marine detection equipment,it has great advantages in the big scope,long time,low cost price marine environmental monitoring.But now its technology was monopolized in the United States,breaking the foreign monopoly and developing wave glider with independent intellectual property rights is of great significance to enhance our ability of marine monitoring.This paper analyzed the working mechanism and configuration of the wave glider,presented the design requirements of each part;based on the detailed design of each component of the wave glider,we built two prototypes.Wave glider's 6 degree of freedom dynamics model was established,each item in the equation was analyzed.The key hydrodynamic parameters were identified using analytical methods.Wave glider's movement at different sea condition were analyzes in simulation by using MATLAB/Simulink software.Based on the dynamics model,how wind,wave and flow infect the wave glider was analyzed.Wave glider's movement was simulated when the disturbing force and moment were taken into account.Finally,a course controller based on fuzzy PID method was designed to solve the wave glider's course control problem and it was tested in the course control,station keeping simulation and water-tank test.