压力补偿式液压浮力驱动技术研究  

Pressure-compensated hydraulic buoyancy actuation technology

作　　者：杨友胜 王海卫[2] 穆为磊 邢世琦[2] 杨翊坤 齐鸿裕 YANG Yousheng;WANG Haiwei;MU Weilei;XING Shiqi;YANG Yikun;QI Hongyu(Science and Technology on Underwater Vehicle Technology, Harbin Engineering University, Harbin 150001, China;College of Engineering, Ocean University of China, Qingdao 266100, China)

机构地区：[1]哈尔滨工程大学水下机器人技术重点实验室,黑龙江哈尔滨150001 [2]中国海洋大学工程学院,山东青岛266100

出　　处：《哈尔滨工程大学学报》2020年第6期792-796,共5页Journal of Harbin Engineering University

基　　金：国家自然科学基金项目(51475197,51275495);山东省自然科学基金项目(ZR2018MEE023);水下机器人技术重点实验室研究基金(SXJQR2017KFJJ04);山东省重点研发计划(2017GGX30106)。

摘　　要：针对潜水器浮力驱动系统液压泵工作压力高,电机功率、舱体壁厚大等问题,本文提出一种压力补偿式液压浮力驱动方案。利用舱内油囊、预充气体和舱外油囊体积的协调变化,配合中低压双向齿轮泵吸/排油,实现浮力主/被动调控及舱内压力随水深的自动补偿。分析了系统的特性参数,研究了初始参数(预充压强和预留空腔体积)对舱体内外压力变化规律及调节次数的影响。研究表明,通过对舱体内压力调控,理论上舱体壁厚减小75%。从总调节次数最少角度考虑,确定了预充压强为8 MPa,预留空腔体积为1002.6 mL时为最佳初始参数。本研究成果为深海浮力驱动系统提供了一种设计方法。To solve the issues of having a high working pressure in hydraulic pumps,large motor power,and wall thickness of buoyancy-actuated cabin for submersible vehicles,a new type of pressure-compensated hydraulic buoyancy actuation program is presented in this paper.Coordinating the changes in the volume of the inner oil bladder,pre-charged gas,and outer oil bladder,a low-and medium-pressure bidirectional gear pump is used to suck or discharge oil,in order to achieve active/passive buoyancy regulation and for the automatic compensation of the cabin pressure with the change in the water depth.The characteristic parameters of the system are analyzed,and the effects of the initial parameters(i.e.,pre-charged pressure and reserved volume of the cavity)on the change law of the inner and outer pressure of the cabin and the adjustment times are studied.Results show that the wall thickness of the cabin decreases by 75%in theory by regulating the pressure inside the cabin.Considering the least adjustment times,a pre-charged pressure of 8 MPa and reserved volume of 1002.6 mL have been determined as the best initial parameters.The research results provide a new design method for buoyancy actuation systems in the deep sea.

关 键 词：浮力驱动 潜水器 油囊 压力补偿 液压 预充压强 双向齿轮泵 自保持电动阀 主/被动调控 

分 类 号：P715.5[天文地球—海洋科学]