温差能驱动水下滑翔机能耗分析与优化

发布时间：2018-04-21 15:26

本文选题：温差能驱动水下滑翔机 + 能耗　；参考：《天津大学》2016年硕士论文

【摘要】：温差能是海洋中储量巨大且比较稳定的可再生能源,温差能驱动水下滑翔机是利用海洋温差能驱动自身运动的海洋环境监测平台。论文从能耗的角度对温差能水下滑翔机进行系统研究,基于能耗对滑翔机进行优化设计,在发挥滑翔机本身巡航范围广、在位工作时间长、低成本、易操作和高自治性优点的基础上,进一步提高其能量利用效率,使低能耗长航程的运行成为可能。针对温差能驱动水下滑翔机的能耗问题,进行了如下研究工作。首先,对现有的温差能驱动水下滑翔机的能耗结构进行了整体分析。其次,基于上述能耗的分析对滑翔机关键单元进行能效优化,以能量利用率和续航能力为评价指标,以路径最短、能耗最小为约束进行了路径规划,并对浮力驱动系统进行分析与改进;基于能耗最优对滑翔机的姿态调节系统进行了改进与稳定性分析,最后通过一系列的水域试验,对温差能滑翔机的能耗进行了预测和验证。本文主要研究成果包括:(1)从温差能水下滑翔机工作过程入手,将滑翔机的能耗单元分为与时间有关和与时间无关的两大类,根据各类能耗特点,分别建立其能耗模型;在此基础上,通过对稳态滑翔影响因素的分析,建立了温差能水下滑翔机的热能需求模型。(2)以续航能力和能量利用率为能耗评价指标建立数学模型,分析主要影响因素并给出优化策略;针对能耗较大的浮力驱动系统进行改进。为减小定航程的能耗,在起航点和目标点间分别对二维空间(纵垂面)和三维空间进行了路径规划,提出了变深度变航向滑翔时总能耗的计算方法;基于蚁群算法理论,从生物进化的角度对滑翔机的路径进行了优化。(3)基于能耗最优对滑翔机的姿态调节系统进行了改进与稳定性分析。(4)进行海试试验,测试滑翔机在路径规划的下自适应航行性能;将建立的能耗理论模型应用于在滑翔机的长航程能耗测试,预测误差在10%以内。
[Abstract]:Temperature difference energy is a renewable energy source with huge reserves and relatively stable in the ocean. Underwater glider driven by temperature difference energy is a marine environment monitoring platform which uses ocean temperature difference energy to drive its own motion. From the angle of energy consumption, this paper makes a systematic study on the thermal differential energy underwater glider, and optimizes the design of the glider based on the energy consumption. The glider itself has a wide range of cruising, long working time and low cost. Based on the advantages of easy operation and high autonomy, the energy utilization efficiency is further improved, which makes the operation of low energy consumption and long voyage possible. The energy consumption of underwater glider driven by temperature difference energy is studied as follows. Firstly, the energy consumption structure of the existing underwater glider driven by temperature difference energy is analyzed as a whole. Secondly, based on the analysis of the energy consumption mentioned above, the energy efficiency of the key units of the glider is optimized. The energy utilization ratio and the ability of endurance are taken as the evaluation indexes, the shortest path and the minimum energy consumption are taken as the constraints for the path planning. Based on the analysis and improvement of the buoyancy drive system, the attitude control system of the glider is improved and its stability is analyzed based on the optimal energy consumption. Finally, through a series of water experiments, the energy consumption of the glider is predicted and verified. The main research results in this paper include: (1) starting with the working process of the thermal differential energy underwater glider, the energy consumption unit of the glider is divided into two categories, which are time-dependent and time-independent. According to the characteristics of various kinds of energy consumption, the energy consumption models are established respectively. On this basis, through the analysis of the influence factors of steady gliding, the thermal energy requirement model of thermal differential energy underwater glider is established. The main influencing factors are analyzed and the optimization strategy is given, and the buoyancy drive system with high energy consumption is improved. In order to reduce the energy consumption of fixed range, the path planning of two-dimensional space (vertical plane) and three-dimensional space is carried out between the starting point and the target point, and the calculation method of total energy consumption for gliding with variable depth and course is proposed, based on ant colony algorithm theory, In this paper, the glider's path is optimized from the angle of biological evolution. (3) based on the optimization of energy consumption, the glider's attitude control system is improved and its stability is analyzed. 4) the glider's adaptive navigation performance under path planning is tested. The established energy consumption theory model is applied to the long range energy consumption test of glider, and the prediction error is less than 10%.
【学位授予单位】：天津大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U674.941

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