摘要
波浪滑翔器是近十年来涌现出来的一种新型海洋无人航行器,凭借其超大续航力和极强生存能力,已在海洋科学、海洋工程甚至军事领域得到了广泛应用,波浪滑翔器技术日益成为了国内外研究热点。针对波浪滑翔器的波浪推进机理、系统结构属性以及控制特性进行了总结和定义,并围绕波浪滑翔器技术的推进机理、动力学建模与分析和运动控制等三个方面,分别阐述了国内外主要研究成果。总结了目前波浪滑翔器技术存在的主要问题,并对未来的研究方向进行了展望。
The unmanned wave glider( UWG) is a new type of autonomous marine vehicle that has emerged in the last ten years. Its seemingly limitless endurance and strong viability has made its use popular in the fields of ocean science,ocean engineering,and marine defense. UWG technology has become a hot research topic worldwide. In this paper,we describe UWG's wave propulsion mechanism,system architecture attributes,and control characteristics. We also highlight and discuss the main problems associated with UWG technology,including its propulsion mechanism,dynamic modeling and analysis,and motion control. We summarize the main problems existing in UWG technology and suggest future research directions.
作者
廖煜雷
李晔
刘涛
李一鸣
王磊峰
姜权权
LIAO Yulei LI Ye LIU Tao LI Yiming WANG Leifeng JIANG Quanquan(Science and Technology on Underwater Vehicle Laboratory,Harbin Engineering University,Harbin 150001,China)
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2016年第9期1227-1236,共10页
Journal of Harbin Engineering University
基金
国家自然科学基金(51409061
51409054
51579053
51579022)
黑龙江省青年自然科学基金(QC2016062)
中国博士后科学基金(2013M540271)
黑龙江省博士后资助经费(LBH-Z13055)
关键词
波浪滑翔器
波浪驱动
推进机理
航速预报
操纵性
运动控制
unmanned wave glider
wave driven
propulsion mechanism
speed prediction
maneuverability
motion control