全海深水下机器人的重力和浮力计算  

Gravity and buoyancy analysis of full ocean depth autonomous underwater vehicle

作　　者：姜言清 李晔[1] 王友康 曹建[1] 李岳明[1] 孙叶义 殷玉齐 张胜军[3] JIANG Yanqing;LI Ye;WANG Youkang;CAO Jian;LI Yueming;SUN Yeyi;YIN Yuqi;ZHANG Shengjun(College of Ship Building Engineering,Harbin Engineering University,Harbin 150001,China;Institute of Oceanology,Chinese Academy of Sciences,Qingdao 266071,China;School of Resources and Civil Engineering,Northeastern University,Shenyang 110819,China)

机构地区：[1]哈尔滨工程大学船舶工程学院,黑龙江哈尔滨150001 [2]中国科学院海洋研究所,山东青岛266071 [3]东北大学资源与土木工程学院,辽宁沈阳110819

出　　处：《哈尔滨工程大学学报》2020年第4期481-486,共6页Journal of Harbin Engineering University

基　　金：国家重点研发计划(2017YFC0305700);国家自然科学基金项目(51809064,51879057);中国博士后科学基金项目(2017M621250).

摘　　要：全海深水下机器人的潜浮过程中环境物理参数存在显著变化,重力和浮力状态随之改变。通过地球重力加速度及其异常值和深渊剖面海水温度、盐度、压力和密度的计算和分析,结合构成全海深水下机器人不同结构、材料的部件在环境温度、压力变化下的体积变化规律,得到了全海深水下机器人潜浮过程中的浮力变化曲线。结果显示:深渊剖面的重力异常对合力的影响不超过1 N;对于质量为吨级的、由浮力材和玻璃球壳为主要构成的全海深水下机器人,潜至11 km时浮力将增加204 N。为全海深水下机器人在海沟深渊潜浮过程中的静力平衡变化提供了精确的预报。Gravity and buoyancy changes in a full ocean depth autonomous underwater vehicle(FOD-AUV)occur while the vehicle is diving and floating,with an obvious change in geophysical parameters and seawater parameters.The parameters such as gravity acceleration and its abnormal value,as well as the seawater temperature,salinity,pressure,and density at Challenger Deep in the Mariana Trench are calculated and analyzed,and then combined with the displacement change law of the vehicle components made of various materials to derive the buoyancy variation curve in the diving and floating process.The resultant force of buoyancy and gravity changes no more than 1 N during the AUV descent and ascent process.Buoyancy increases by 204 N as the FOD-AUV,which mainly consists of glass housing and buoyancy foam,dives to a depth of 11 km.The work provides an accurate prediction of the static equilibrium of FOD-AUV in the course of hadal submergence.

关 键 词：水下机器人 全海深 浮力调整 玻璃球壳 浮力材 马里亚纳海沟 挑战者深渊 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]