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海底热液硫化物的寻找是一个富有挑战性的问题。依据以水下滑翔机(Glider)群采用巡航方式大范围寻找海洋热液羽状分布并对疑似的热液喷口进行进一步确认的方案,基于耦合相位谐振子模型,发展了相应的“齐头并进”式平行编队和同心圆形编队的协作控制策略。变速度粒子模型的“齐头并进”式平行编队能够解决粒子平行编队的空间运动的步调不一致问题,对应于Glider群以巡航模式大范围搜寻热液羽状分布。将同心双圆环编队和Glider的垂向上升下潜运动叠加可以仿真三维圆锥编队,该方式较单圆环编队能够较快、方便地捕捉热液喷口区域的锥形扩散特征。仿真结果表明控制策略能够比较好地完成寻找海底硫化物的所设计的相应编队模式。
The search for seabed hydrothermal sulfides is a challenging issue. Based on the scheme of searching for the plume of marine hydrothermal plumes by the Glider group by cruising and further confirming the suspected hydrothermal vents, based on the coupled phase harmonic oscillator model, corresponding “go hand in hand” Collaborative Control Strategy for Parallel Formation and Concentric Formation. The variable-speed particle model’s “simultaneous” parallel formation can solve the inconsistent pace of spatial movement of particle parallel formation, corresponding to the Glider group searching for hydrothermal plume distribution in a wide range of cruise modes. The superposition of concentric double ring formations and Glider’s vertical ascent and descent can simulate 3D cone formation, which can capture the conical diffusion characteristics of the hydrothermal orifice more quickly and easily than the single ring formation. The simulation results show that the control strategy can well complete the designed corresponding formation mode for finding the seafloor sulfide.