Development of an Energy-Efficient Control System for Underwater Gliders

In underwater gliders, certain inefficiencies in energy supply strategies and control methods, such as imbalanced energy distribution, lead to the control system consuming an estimated 95% of the total energy budget, indicating a critical need for optimization in these areas. This study assesses the specific impacts of energy supply strategies and control methods on the efficiency and performance of underwater gliders, focusing on optimizing the control system for low-power consumption. Firstly, guided by the working principles and operational procedures of underwater gliders, a single-profile energy consumption model for the control system was established, which facilitates accurate energy usage tracking and management, contributing to the identification of potential efficiency improvements. Secondly, following a meticulous examination of the power supply voltage requirements for each component within the control system, a multi-supply and multi-voltage (MSMV) scheme was designed. This scheme, in conjunction with a detailed energy management strategy, effectively optimizes the voltage distribution and minimizes energy waste. Furthermore, a dynamic voltage and frequency scaling (DVFS) strategy was employed, which adjusts voltage and frequency in response to workload variations. This approach enhances system efficiency by aligning energy use with operational demand, effectively minimizing unnecessary power usage. Additionally, a sleep strategy was implemented to enhance the efficiency of frequency adjustment and reduce the time overhead. Conclusively, simulations and sea trials confirm a substantial 30.75% reduction in energy use by the control system of the underwater glider, boosting its range and endurance by 12.18% and 48.3%, respectively.