李默竹, 郑荣, 任福琳, 等. AUV浮力调节装置的设计及试验[J]. 中国舰船研究, 2021, 16(增刊 1): 11–18. doi: 10.19693/j.issn.1673-3185.02500
引用本文: 李默竹, 郑荣, 任福琳, 等. AUV浮力调节装置的设计及试验[J]. 中国舰船研究, 2021, 16(增刊 1): 11–18. doi: 10.19693/j.issn.1673-3185.02500
LI M Z, ZHENG R, REN F L, et al. Design and testing of AUV variable buoyancy device[J]. Chinese Journal of Ship Research, 2021, 16(Supp 1): 11–18. doi: 10.19693/j.issn.1673-3185.02500
Citation: LI M Z, ZHENG R, REN F L, et al. Design and testing of AUV variable buoyancy device[J]. Chinese Journal of Ship Research, 2021, 16(Supp 1): 11–18. doi: 10.19693/j.issn.1673-3185.02500

AUV浮力调节装置的设计及试验

Design and testing of AUV variable buoyancy device

  • 摘要:
      目的  自主式水下航行器(AUV)在使用过程中受不同水域密度差异的影响,需相应计算和调整其配平状态及控制参数,而增加浮力调节装置可以使AUV具备更好的自主调节能力,适应更多的应用场景。
      方法  基于可变体积原理,设计一种采用油囊吸排油方法的浮力调节装置,实现双向定量传油,通过改变外油囊体积来调节AUV的浮力状态。
      结果  水池性能测试及搭载AUV湖试的结果表明,所设计的浮力调节装置可以辅助AUV在水中完成定深悬停、航行下潜等功能,实现了在51 m深的湖底成功着陆,原地完成90 h低功耗坐底观测。
      结论  试验证明了浮力调节装置工作的有效性,为提高AUV使用效能、扩展应用范围提供了可能性。

     

    Abstract:
      Objectives  The motion state of autonomous underwater vehicle (AUV) is impacted by different densities of water, so it is necessary to recalculate the balance and control parameters. However, the use of a variable buoyancy device can add a more effective self-regulation capability to the AUV, making it suitable for operation in a wider range of scenarios.
      Methods  This paper proposes the design of a variable buoyancy device for an AUV. Through adopting an oil bladder that can intake/discharge oil and transfer it quantitatively in a dual manner, the device can change the volume of the external oil bladder and regulate the AUV's buoyancy status.
      Results  The results of the tank and lake tests show that the designed device can help the AUV to achieve the functions of fixed-depth hovering and diving during navigation, and complete a 90-hour mission of low-power-consumption parking for in-situ observation after soft-landing on the lakebed at a depth of 51 m.
      Conclusions  The results prove the validity of the variable buoyancy device and lay the groundwork for enhancing the operation effectiveness of AUVs, as well as extending their application scope.

     

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