| 专利名称: | 一种水下滑翔机能耗最优的运动参数优化方法 |
| 其他题名: | Motion parameter optimization method for optimal energy consumption of underwater glider
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| 作者: | 俞建成
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| 所属部门: | 水下机器人技术研究室
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| 专利权人: | 中国科学院沈阳自动化研究所
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| 专利代理: | 沈阳科苑专利商标代理有限公司 21002
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| 专利国别: | 中国
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| 专利类型: | 发明
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| 专利状态: | 有效
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| 摘要: | 本发明涉及一种水下滑翔机能耗最优的运动参数优化方法，输入水下滑翔机初始化参数；将运动参数约束条件数值中的最小值作为待优化运动参数的初始值；采用枚举计算方法分别计算出运动参数约束条件数值中所有滑翔角度条件下的G函数值；确定最大G函数值对应的滑翔角度；将滑翔速度增加一个迭代步长；如果超过最大滑翔速度约束条件，则运动参数约束条件数值中的滑翔深度增加一个迭代步长；如果超过最大滑翔深度约束条件，确定G函数值序列中的最大值，该G函数值序列中的最大值所对应的滑翔速度、滑翔深度和滑翔角度即为最优的滑翔运动参数。本发明综合优化了水下滑翔机的系统能耗特征和运动性能，提高水下滑翔机的能源利用率，提高水下滑翔机系统的续航能力。 |
| 英文摘要: | The invention relates to a motion parameter optimization method for optimal energy consumption of an underwater glider. The method comprises the following steps that: an initialization parameter of an underwater glider is input a minimum value in motion parameter constraint condition values is used as an initial value of a to-be-optimized motion parameter an enumeration calculating method is employed to respectively calculate G function values in the motion parameter constraint condition values under all glide angle conditions a glide angle corresponded to a maximum G function value is determined an iteration step size is added to a glide speed if a maximum glide speed constraint condition is exceeded, an iteration step size is added for a glide depth in the motion parameter constraint condition values and if a maximum glide depth constraint condition is exceeded, a maximum value in a G function value sequence is determined as well as a glide speed, a glide depth and a glide angle are optimal glide motion parameters, wherein the glide speed, the glide depth and the glide angle are corresponded to the maximum value in the G function value sequence. According to the invention, a system energy consumption feature and a motion performance of an underwater glider are comprehensively optimized an energy utilization rate of the underwater glider is improved and endurance capability of the underwater glider system is also enhanced. |
| 是否PCT专利: | 否
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| 申请日期: | 2010-12-04
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| 公开日期: | 2012-06-06
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| 授权日期: | 2014-05-07
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| 专利申请号: | CN201010573970.2
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| 公布/公告号: | CN102486633A
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| 语种: | 中文
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| 产权排序: | 1
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| 内容类型: | 专利
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| URI标识: | http://ir.sia.cn/handle/173321/13070
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| Appears in Collections: | 水下机器人研究室_专利
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| CN201010573970.2.pdf（607KB） | 专利 | -- | 开放获取 | | View
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| | CN201010573970.2授权.pdf（666KB） | 专利 | -- | 开放获取 | | View
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| Recommended Citation: | |
俞建成. 一种水下滑翔机能耗最优的运动参数优化方法. CN102486633A. 2012.
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