{"title":"Station-keeping strategy in emergency mode for wave gliders considering power shortages","authors":"","doi":"10.1016/j.apor.2024.104236","DOIUrl":null,"url":null,"abstract":"<div><div>The wave glider (WG) is an autonom surface vehicle (ASV) that is driven only by waves without propellers, and it maintains the power consumption of the control system and various payloads through solar power generation. To cope with the power shortages caused by extreme weather and sudden failures, a station-keeping strategy in emergency mode for WGs is proposed in this paper, so that the WG can remain in the current area with extremely low power consumption. More specifically, according to the power consumption mechanism of the WG, a partition control method is designed to set different operating modes in different areas. Also, an event-triggered (ET) motion control algorithm is proposed to reduce the execution rate of the rudder, which introduces adjustment factors to dynamically adjust the trigger threshold to further cut down rudder steering power consumption. Additionally, an online heading prediction system is developed to predict the submerged glider heading (SGH) of the WG through the float heading (FH) when the rudder management system shuts down. Through simulation and experimental analysis, the strategy in emergency mode can achieve positioning control with extremely low power consumption.</div></div>","PeriodicalId":8261,"journal":{"name":"Applied Ocean Research","volume":null,"pages":null},"PeriodicalIF":4.3000,"publicationDate":"2024-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Applied Ocean Research","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0141118724003572","RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, OCEAN","Score":null,"Total":0}
引用次数: 0
Abstract
The wave glider (WG) is an autonom surface vehicle (ASV) that is driven only by waves without propellers, and it maintains the power consumption of the control system and various payloads through solar power generation. To cope with the power shortages caused by extreme weather and sudden failures, a station-keeping strategy in emergency mode for WGs is proposed in this paper, so that the WG can remain in the current area with extremely low power consumption. More specifically, according to the power consumption mechanism of the WG, a partition control method is designed to set different operating modes in different areas. Also, an event-triggered (ET) motion control algorithm is proposed to reduce the execution rate of the rudder, which introduces adjustment factors to dynamically adjust the trigger threshold to further cut down rudder steering power consumption. Additionally, an online heading prediction system is developed to predict the submerged glider heading (SGH) of the WG through the float heading (FH) when the rudder management system shuts down. Through simulation and experimental analysis, the strategy in emergency mode can achieve positioning control with extremely low power consumption.
波浪滑翔机(WG)是一种仅靠波浪驱动的自主水面飞行器(ASV),没有螺旋桨,通过太阳能发电维持控制系统和各种有效载荷的功耗。为应对极端天气和突发故障造成的电力短缺,本文提出了一种 WG 应急模式下的驻留策略,使 WG 能以极低的功耗留在当前区域。具体来说,根据 WG 的功耗机制,设计了一种分区控制方法,在不同区域设置不同的运行模式。同时,为了降低方向舵的执行率,提出了一种事件触发(ET)运动控制算法,引入调整因子动态调整触发阈值,进一步降低方向舵转向功耗。此外,还开发了一个在线航向预测系统,当舵管理系统关闭时,通过浮标航向(FH)来预测 WG 的水下滑翔机航向(SGH)。通过仿真和实验分析,应急模式下的策略能够以极低的功耗实现定位控制。
期刊介绍:
The aim of Applied Ocean Research is to encourage the submission of papers that advance the state of knowledge in a range of topics relevant to ocean engineering.