波浪滑翔机速度预测与路径规划的研究

发布时间：2018-05-09 10:36

本文选题：波浪滑翔机 + 速度预测　；参考：《青岛大学》2017年硕士论文

【摘要】：波浪滑翔机是一种新型可持续的海洋观测平台,其采用双体结构进行机械设计,实现以波浪能作为推进动力;并搭载有光伏太阳能电池板和可充电锂电池,实现以太阳能作为系统电源。由此克服了常规海洋观测平台需要自带能源和难以自主移动的弊端,可实现长时间、远距离的海洋观测,并在海洋观测领域具有良好的应用前景以及重要的意义。由于波浪滑翔机波浪能驱动和太阳能供电的能源特点,在海试中波浪滑翔机的航向和航速完全依赖于复杂多变的海洋环境,虽然其航向可由舵机控制,但其航速还是完全依赖于海洋环境因素,因此波浪滑翔机的速度预测是一个值得关注的问题。基于OCFS-C预测数据模型,本文中应用线性回归模型线性权衡有效浪高、表层流、风速等海洋环境参数,推导出了波浪滑翔机速度的预测模型。由于在海试中海洋环境对波浪滑翔机具有极其重大的影响,既可以迫使波浪滑翔机陷入停滞,也可以促使波浪滑翔机快速前行,因此在波浪滑翔机执行海洋观测任务之前进行波浪滑翔机路径规划是一个首要问题。基于常规路径规划算法,文中引入波浪滑翔机速度来改进栅格法和蚁群算法,从而实现波浪滑翔机的路径规划。为了验证本文研究波浪滑翔机速度预测和路径规划的正确性与实用性,借助MATLAB2014a仿真平台进行了实例仿真。从实例仿真结果可以证明,本文可找出波浪滑翔机前进速度与海洋环境因素的确切关系,并指导波浪滑翔机以最安全、最快速的航线完成海洋观测任务。
[Abstract]:The wave glider is a new type of sustainable ocean observation platform, which is mechanically designed with a two-body structure, with wave energy as its propulsion power, and is equipped with photovoltaic solar panels and rechargeable lithium batteries. Solar energy is realized as the system power supply. Therefore, the conventional ocean observation platform needs its own energy and is difficult to move independently. It can realize long time and long distance ocean observation, and has a good application prospect and important significance in the field of ocean observation. Because of the energy characteristics of wave energy driven by wave gliders and solar power supply, the course and speed of wave gliders in sea trials are completely dependent on the complex and changeable marine environment, although their course can be controlled by the steering gear. However, the speed of the glider is completely dependent on the marine environmental factors, so the prediction of the speed of the wave glider is a problem worthy of attention. Based on the OCFS-C prediction data model, the linear regression model is used to weigh the ocean environmental parameters such as effective wave height, surface current, wind speed and so on, and the prediction model of wave glider velocity is derived. Because the marine environment has an extremely significant impact on wave gliders during sea trials, it can either force wave gliders to stagnate or prompt wave gliders to move forward quickly. Therefore, it is a primary problem to plan the path of wave glider before carrying out ocean observation mission. Based on the conventional path planning algorithm, the speed of the wave glider is introduced to improve the grid method and ant colony algorithm to realize the path planning of the wave glider. In order to verify the correctness and practicability of the research on velocity prediction and path planning of wave glider in this paper, an example simulation is carried out with the help of MATLAB2014a simulation platform. The simulation results show that this paper can find out the exact relationship between the forward speed of the wave glider and the marine environment factors, and guide the wave glider to complete the ocean observation mission with the safest and quickest route.
【学位授予单位】：青岛大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：P715

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