全海深ARV浮力配平计算方法  

A Calculation Method of ARV Buoyancy Trim at Full-Ocean Depth

作　　者：陆洋[1,2] 唐元贵[1,2] 王健[1,2] 陈聪 闫兴亚 LU Yang;TANG Yuangui;WANG Jian;CHEN Cong;YAN Xingya(Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110169,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China)

机构地区：[1]中国科学院沈阳自动化研究所,辽宁沈阳110169 [2]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169

出　　处：《机器人》2021年第1期74-80,共7页Robot

基　　金：国家重点研发计划(2016YFC0300800).

摘　　要：全海深ARV(自主遥控水下机器人)下潜至马里亚纳海沟,机器人工作环境温度降低、海水压力增大,会引起载体结构、补偿油体积变化.根据深渊海水密度、重力加速度和机器人体积的变化,计算得到机器人浮力状态的变化量,从而计算机器人浮力配平.通过公式推导并结合“海斗号”ARV深潜数据和补偿油压缩实验数据,得到全海深ARV浮力配平计算方法.其主要包括海水密度测算、马里亚纳海沟重力加速度测算、机器人结构和补偿油排水体积变化测算.计算得出在11000 m深度实现浮力配平所需的压载为8.9 kg.完成“海斗号”ARV浮力配平,保障机器人深渊工作环境浮力与重力匹配,成功进行了多次马里亚纳海沟万米深潜.本文方法为全海深水下机器人浮力配平提供了理论计算依据.When a full-ocean depth ARV(autonomous and remotely-operated vehicle)dives to Mariana Trench,the vehicle structure and the volume of compensation oil will change due to the pressure increase and temperature fall of seawater in the working environment.Taking the abyssal seawater density,gravity acceleration and robot volume change into consideration,the change amount of the robot buoyancy state is calculated,so as to calculate the robot buoyancy trim.A calculation method of buoyancy trim for the full-ocean depth ARV is obtained through formula derivation,combining with the experimental data of Hadal ARV and the compression experiment data of compensation oil.It mainly includes seawater density calculation,Mariana trench gravity acceleration calculation,the volume change measurement of the robot and compensation oil.The ballast for buoyancy trim at 11000 m depth is calculated to be 8.9 kg.The buoyancy trim of Hadal ARV ensures that the buoyancy and gravity match suitably in abyssal working environment.Several sea trials at Mariana Trench are conducted.The proposed method provides a theoretical calculation basis for buoyancy trim of the full-ocean depth underwater robots.

关 键 词：自主遥控水下机器人 浮力匹配 体积变化 补偿油 马里亚纳海沟 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]