Motion Control Simulation of Underwater Gliders in Kuroshio

MA Yuyin; WANG Yanfeng; GUAN Sheng; WANG Na; DING Junhang

doi:10.11993/j.issn.2096-3920.2023-0086

Volume 32 Issue 1

Feb 2024

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MA Yuyin, WANG Yanfeng, GUAN Sheng, WANG Na, DING Junhang. Motion Control Simulation of Underwater Gliders in Kuroshio[J]. Journal of Unmanned Undersea Systems, 2024, 32(1): 1-7. doi: 10.11993/j.issn.2096-3920.2023-0086

Citation:

MA Yuyin, WANG Yanfeng, GUAN Sheng, WANG Na, DING Junhang. Motion Control Simulation of Underwater Gliders in Kuroshio[J]. Journal of Unmanned Undersea Systems, 2024, 32(1): 1-7. doi: 10.11993/j.issn.2096-3920.2023-0086

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Motion Control Simulation of Underwater Gliders in Kuroshio

doi: 10.11993/j.issn.2096-3920.2023-0086

MA Yuyin^1
,,
WANG Yanfeng^{2, 3, 4
,},
GUAN Sheng^{2, 3, 4
,},
WANG Na^{1, 5
,},
DING Junhang^6
,

1.
School of Automation, Qingdao University, Qingdao 266071, China
2.
First Institute of Oceanography, Ministry of Natural Resources, Qingdao 266061, China
3.
Key Laboratory of Marine Science and Numerical Modeling, Ministry of Natural Resources, Qingdao 266061, China
4.
Shandong Key Laboratory of Marine Science and Numerical Modeling, Qingdao 266061, China
5.
Shandong Key Laboratory of Industrial Control Technology, Qingdao 266071, China
6.
School of Rehabilitation Science and Engineering, University of Health and Rehabilitation Sciences, Qingdao 266113, China

Received Date: 2023-07-13
Accepted Date: 2023-09-04
Rev Recd Date: 2023-08-26

Available Online: 2023-12-11

Abstract

Abstract

In recent years, underwater gliders have been widely used in the observation of various ocean surveys. However, their motion is often seriously affected when observing strong currents such as the Kuroshio. Therefore, the motion control of underwater gliders in the Kuroshio was studied in this paper. First, with Petrel-II as the research object, a dynamics model considering the Kuroshio was established based on the momentum and momentum moment theorem. Then, the Kuroshio data downloaded from the HYCOM website was used as interference, which featured varying speeds and directions of Kuroshio at different positions, and Simulink was used to simulate the motion of the Petrel-II under the influence of strong currents. Finally, the radial basis function(RBF) neural network was combined with the conventional proportional-integral-derivative(PID) controller to control the yaw motion and trim motion of the Petrel-II. The simulation results show that the RBF-PID controller can improve the motion tracking accuracy of Petrel-II in the Kuroshio area and enhance its ability to resist the interference of the Kuroshio. This study can provide a reference for the motion control of underwater gliders under the influence of strong currents to some extent.
- underwater glider,
- Kuroshio,
- motion control,
- radial basis function,
- proportional-integral-derivative control

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References(15)

References

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