With recent developments in battery technology and low power technology, biofouling, a process referring to the gradual accumulation of organisms on underwater surfaces, has gained a foothold as the primary adversary in long-duration underwater glider flights (C. D. Haldeman, D. K. Aragon, T. Miles, S. M. Glenn, and A. G. Ramos, “Lessening biofouling on long-duration AUV flights: Behavior modifications and lessons learned,” in Proc. OCEANS MTS/IEEE Conf. , Monterey, CA, USA, 2016, pp. 1–8). Not only can biofouling increase the drag of the glider, but also it can add the buoyancy discrepancies, which changes the flight characteristics of the glider. Thus, it is necessary to adjust the flight parameters of underwater gliders accordingly for long-duration flights. In this article, the problems of a Petrel-L glider caused by biofouling are introduced. Several critical parameters including the hydrodynamic coefficients, the thermal expansion coefficient, the compressibility, and the net buoyancy compensation of the glider are optimized by an inner penalty function method based on the glider data and the dynamic model of Petrel-L. The effect of these parameters influenced by biofouling on the gliding range is analyzed. The results indicate that the changed hydrodynamic coefficients and net buoyancy compensation decrease the gliding range by 14.64% when the hotel load, including the power of the control system and the sensors, is 0.2 W. The gliding range loss can be decreased to 7.11% by adjusting the flight parameters. This article provides a reference of flight parameter adjustment for other types of biofouled underwater gliders.

中文翻译：

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Petrel-L水下滑翔机飞行参数优化

随着电池技术和低功率技术的最新发展，生物污垢（指生物体在水下表面逐渐积累的过程）已经站稳脚跟，成为长时间水下滑翔机飞行的主要对手（CD Haldeman、DK Aragon、T. Miles、SM Glenn 和 AG Ramos，“减轻长期 AUV 飞行中的生物污垢：行为改变和经验教训”，载于 过程 海洋 MTS/IEEE 会议。，美国加利福尼亚州蒙特雷，2016 年，第 1-8 页）。生物污垢不仅会增加滑翔机的阻力，还会增加浮力差异，从而改变滑翔机的飞行特性。因此，需要对水下滑翔机的长航时飞行参数进行相应的调整。在本文中，介绍了由生物污垢引起的海燕-L 滑翔机的问题。基于滑翔机数据和Petrel-L动力学模型，采用内罚函数法对滑翔机的水动力系数、热膨胀系数、压缩性和净浮力补偿等几个关键参数进行了优化。分析了受生物污垢影响的这些参数对滑行范围的影响。结果表明，当酒店负载（包括控制系统和传感器的功率）为 0.2 W 时，改变的水动力系数和净浮力补偿使滑翔距离降低了 14.64%。滑翔距离损失可通过以下方法降低到 7.11%调整飞行参数。本文为其他类型生物污垢水下滑翔机飞行参数调整提供参考。