面向海洋微结构测量的水下滑翔器协同动力学行为研究

海洋微结构可以揭示海洋变化过程对全球气候变化的影响规律。立体、大范围、长时序的有效观测是海洋微结构研究的基础。为提高海洋微结构观测能力，本申请项目拟开展面向海洋微结构测量的水下滑翔器协同动力学行为研究。首先，以海洋微结构测量传感器对水下滑翔器的性能要求为约束，进行海洋微结构测量传感器与水下滑翔器集成优化设计；其次，运用多体系统理论与人工势能场方法，构建水下滑翔器集群关联结构，建立协同编队多体系统模型；最后，针对水下滑翔器特殊的间断通信方式，采用虚拟结构体法，结合水下滑翔器个体运动学和动力学行为，发展满足通信约束且融合姿态控制的水下滑翔器协同编队方法，并运用形状相似性度量法考察水下滑翔器集群的编队保持精度，综合编队构形平移误差和旋转误差，建立整体编队误差模型。本研究工作为水下滑翔器集群编队系统在海洋观测领域的应用提供理论研究方法,对揭示海洋内部微观运动机理具有重要科学意义。

Ocean microstructure reveals the influence of ocean processes on global climate change. Fundamentals of research on ocean microstructure is three-dimensional, large-scale, and long-term observation. Aiming to enhance the ability to observe ocean microstrcuture, this proposal presents the coordinated dynamics of an underwater glider fleet for ocean microstructure measurement. Analysis and optimization of sensor layout on the underwater glider is first presented. Then, the connection between individual underwater glider in the fleet is modeled using multibody system theory and artificial potential field method according to specific measuring requirements. Based on the multibody system model of the underwater glider formation, a coordinated strategy that includes both position and attitude control under intermittent communication is subsequently developed by virtual structure method, combining the kinematics and dynamics of individual underwater glider. The formation error is finally evaluated by deformation of the formation configuration using shape similarity measurement, as well as the translation error and the rotation error. The proposed work provides a strategy for cooperation of an underwater glider fleet to measure ocean microstructure from the theoretical aspect, and may thereby improve knowledge of ocean processes and promote application of underwater glider formation in ocean observation.