水下滑翔机器人系统研究

水下滑翔机器人是一种新型的水下机器人,可以作为水下监测平台用于大范围、长时间的大尺度海洋环境监测作业。文中调查了水下滑翔机器人的国内外发展现状,分析了其可能的应用领域。详细介绍了中国科学院沈阳自动化研究所开发的水下滑翔机器人系统,包括载体外形优化设计、载体结构设计和控制系统设计。分析了水下滑翔机器人定常滑翔运动和空间螺旋会转运动的运动性能。

Underwater gliders,as a new kind of underwater vehicle,can be used as underwater monitoring platform for long-range,long-time and large-scale ocean environment monitoring.Firstly,this paper describes the survey of the development status of underwater gliders at home and abroad,and analyses its potential application fields.Secondly,an underwater glider system,being developed by Shenyang Institute of Automation,Chinese Academy of Sciences,is presented in particular.The underwater glider system design includes system general design,body shell optimal design,actuator design and control system design.Two types of underwater gliders' locomotion,constant gliding motion and space helix turning motion,are studied,and its motion performances are analyzed at the same time.

国家自然科学基金资助项目(60405010);;辽宁省自然科学基金资助项目(20041025)