An optimization method for control parameters of underwater gliders considering energy consumption and motion accuracy

Wu, Haiyuan; Niu, Wendong; Wang, Shuxin; Yan, Shaoze

doi:10.1016/j.apm.2020.10.015

Cited by 65 publications

(12 citation statements)

References 42 publications

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“…The gravitational forces and moments represented in the inertial system can also be converted to the body system to represent the external forces exerted on the glider in the same coordinate system. Then, through transforming the expressions into the inertial system, the force analysis of the glider is completed, as demonstrated in Equation (2). Among them, the r v can be calculated through…”

Section: Model Derivationsmentioning

confidence: 99%

“…At (3), the glider dives to the set depth and starts to adjust buoyancy and attitude to prepare for surfacing. After the adjustment of the switching process, the glider reaches the flare point (2), which means that the glider starts to control the floating pitch angle. The determination of the flare time is defined in Equation (36).…”

Section: The Control Metrics Of Pitch Controlmentioning

confidence: 99%

“…The underwater glider (UG) is a kind of buoyancy-driven oceanic observation robot [1][2][3]. They are not equipped with propellers, but rely on manipulating buoyancy and attitude to navigate [4,5].…”

Section: Introductionmentioning

confidence: 99%

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Precise Underwater Gliders Pitch Control with the Presence of the Pycnocline

Zang

Chen²,

Guo

et al. 2021

JMSE

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Glider-based mobile currents observations are gaining increasing research attention. However, the quality of such observations is directly related to the pitch accuracy of the glider. As a buoyancy-driven robot, the glider will be strongly disturbed during the passage through the pycnocline. The pycnocline refers to the oceanic phenomenon where the density of the seawater changes abruptly with respect to depth. The presence of the pycnocline influences the pitch of the glider and consequently affects the quality of the observed currents data. In this work, we propose an actuator constrained active disturbance rejection controller (ACADRC) to improve the accuracy of the pitch angle control when gliders move across the pycnocline. For this purpose, the dynamical model of the glider is first derived. Then, the longitudinal plane motion model of the glider considering the density variation is analyzed. Based on that, we discuss three typical types of pycnocline encountered during glider profiling, which are the pycnocline, the inverted pycnocline and the multiple pycnocline. To alleviate the low accuracy of bang-bang control and proportion integration differentiation control, and furthermore, to mitigate the disturbance of pitch by sudden density changes, we propose the actuator constrained active disturbance rejection controller in conjunction with specific glider pitch actuator hardware constraints. Simulation results show that the proposed method has significant improvement in pitch control accuracy over the comparison methods.

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Section: Model Derivationsmentioning

confidence: 99%

Section: The Control Metrics Of Pitch Controlmentioning

confidence: 99%

See 1 more Smart Citation

Precise Underwater Gliders Pitch Control with the Presence of the Pycnocline

Zang

Chen²,

Guo

et al. 2021

JMSE

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show abstract

“…In view of this, the position accuracy that the glider resurfaces and the energy utilization rate are two important performance metrics for underwater glider. The previous reseach 38 illustrates that the above two performance metrics are closely related to the glider control parameters values (the net buoyancy adjustment amount and the movable mass block position adjustment amount). Therefore, we should optimize the control parameters values to maximize the position accuracy that the glider resurfaces and the energy utilization rate simultaneously.…”

Section: Introductionmentioning

confidence: 96%

Multi-objective optimization for control parameters of underwater gliders considering effect of uncertain input errors

Niu

Wang

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

Self Cite

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In actual application, the energy utilization rate of underwater glider directly affects the total voyage range. When underwater glider is used for executing exploration mission for a fixed point, the position that the glider resurfaces should be accurate enough. In this paper, we employ a multi-objective optimization method to determine the control parameters values that can maximize the position accuracy that the glider resurfaces and the energy utilization rate simultaneously. Especially, the optimization of this paper considers the effect of uncertain input errors. The control parameters include the net buoyancy adjustment amount and the movable mass block translation amount. The input errors include the control parameters errors, the motion depth error and the current. Based on the dynamic model of an underwater glider, we propose the calculation model and evaluation flow that are used for analyzing the glider position accuracy and energy utilization rate, considering the effect of uncertain input errors. Besides, a combinatorial experimental design method is proposed to calculate the performance evaluation parameters under different control parameters values. Then the radial basis function neural network is employed to establish the surrogate models of performance evaluation parameters to participate in the optimization calculation, which can improve the optimization efficiency. After optimization calculation based on the non-dominated sorting genetic algorithm II, we obtain a Pareto optimal set consisting of 257 sets of non-dominated solutions. Finally, the selection rule of optimal control parameters values is given, and the optimization results are validated under 3 sets of solutions. This research may be valuable for the improvement of the glider work quality.

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“…Due to manufacturing error, the clearance is inevitable in the revolute joint of the linkage. The nonlinear impact between the journal and the bearing will reduce the operation accuracy and reliability of a mechanical system [21][22][23]. Dynamic modeling of the mechanism systems has been identified as an important tool in the analysis, design, optimization, and simulation.…”

Section: Introductionmentioning

confidence: 99%

Design Framework for Motion Generation of Planar Four-Bar Linkage Considering Clearance Joints and Dynamics Performance

2022

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In this paper, we present a novel design framework to connect linkage synthesis with dynamics performance of the linkage. The aim of the design framework is to improve the dynamics performance of the mechanism through linkage design, instead of improving manufacturing accuracy or changing driving strategy. Specifically, the design framework is to complete motion generation of four-bar linkage, considering clearance joints and dynamics performance. The constraint model of motion generation and the dynamics model of four-bar linkage are established, respectively. The coordinates of four joints of four-bar linkage are divided into two parts, one of parts is the parameters to improve the dynamics performance of the linkage and is selected as the optimization variables. The other parts of joint coordinates is to satisfy the kinematics requirements and is obtained by solving constraint equations of motion generation. Through optimization calculation, we can obtain the optimal configuration of the four-bar linkage that achieves specified task positions with high motion accuracy and low wear extent of clearance joint. Finally, a numerical example is proposed to demonstrate the novel design framework.

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An optimization method for control parameters of underwater gliders considering energy consumption and motion accuracy

Cited by 65 publications

References 42 publications

Precise Underwater Gliders Pitch Control with the Presence of the Pycnocline

Precise Underwater Gliders Pitch Control with the Presence of the Pycnocline

Multi-objective optimization for control parameters of underwater gliders considering effect of uncertain input errors

Design Framework for Motion Generation of Planar Four-Bar Linkage Considering Clearance Joints and Dynamics Performance

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