Design Of Low Power Consumption For Autonomous Underwater Glider Control System

Underwater gliders have become a popular tool for ocean research and development by oceanographers because of their more flexible carrying capacity,longer endurance and lower operating costs.The underwater glider is limited by its own volume and can only carry a limited amount of energy.In the case of limited energy,reducing energy consumption is a key technical way to improve the endurance of underwater gliders.In the energy consumption of the underwater glider,due to the unreasonable energy supply scheme and control algorithm,the energy consumption of the control system accounts for about 95% of the total energy consumption,and there is a large potential for reducing consumption.The subject for study in this paper is the “Petrel-II” underwater glider of Tianjin University.The energy consumption model of the control system is obtained through the study of different functional units.Based on this,the control system is optimized for low power consumption from energy supply scheme and control strategy.The mainly results in this paper include:(1)According to the working principle and working process of the underwater glider,the steady-state gliding speed and profile time expression of the underwater glider are derived,and then the energy consumption model of each unit of the control system is established.The single-section energy consumption model of the underwater glider control system is formed by integrating the energy consumption model of each unit.(2)Based on the analysis of the power supply voltage requirements of each unit of the control system,a multi-power supply multi-voltage(MSMV)power supply scheme and energy management scheme to reduce the energy consumption of the underwater glider control system are proposed,which can reduce the control system energy consumption by about 19%.(3)The dynamic voltage / frequency adjustment algorithm is used to improve the frequency adjustment control algorithm of the underwater glider control system,and an optimal buoyancy adjustment control algorithm is proposed.The above algorithm can reduce the control system energy consumption by about 13%.According to simulation test and the sea test,the system energy consumption of the underwater glider is reduced by about 30.75% after optimization.Among them,the energy consumption of the control unit is reduced by about 9%,and the energy consumption of other execution units is reduced by about 22%,and the range of underwater gliders has increased by approximately 12.18%,and the battery life has increased by approximately 48.3%.