自主水下航行器安全抛载系统设计  

Design of Safety Jettison System for Autonomous Underwater Vehicle

作　　者：董权威 田锋[1] 岳才谦[1] 王奥博[1] DONG Quanwei;TIAN Feng;YUE Caiqian;WANG Aobo(China Academy of Aerospace and Aerodynamics,Beijing 100074,China)

机构地区：[1]中国航天空气动力技术研究院,北京100074

出　　处：《计算机测量与控制》2021年第8期178-181,189,共5页Computer Measurement &Control

摘　　要：自主水下航行器(AUV)在海洋资源勘探与开发中发挥着重要作用,安全性作为其研究的重要内容与关键技术,关乎着水下任务能否顺利完成并安全返回;为进一步加强AUV在水下应对故障及危险的处理能力,依托实体AUV,设计一套安全抛载系统;该系统基于ARM Cortex-M4处理器,搭建抛载电路,使其不仅能够响应程序预先设定的抛载指令,还能根据一些突发或紧急情况,自动触发抛载动作,如:系统掉电、死机或漏水等;最后通过岸上模拟实验与真实水下实验,测得对10 kg抛载块进行抛载测试的准确执行率达100%,且抛载系统功耗为2.8 W;此外,对抛载系统进行了耐压测试,压力测量装置显示,在10 MPa压力范围内,该系统仍能正常可靠工作,其耐压性得到有效验证,符合总体设计要求。Autonomous underwater vehicle(AUV)plays a vitally crucial role in ocean exploration and development,and as one of the key technology,its safety is the important part of research that determines whether the AUV can accomplish the underwater mission and return back safely.In order to further enhance its ability of dealing difficulty and dangerous situation when AUV maneuvers under the water,a renew safety jettison system is designed.In this system,the main controller unit of security guarantee computer utilizes the ARM Cortex-M4 processor,and establish the security jettison circuit of AUV,which can response the jettison command that set previously and trigger the jettison motion automatically according to emergent situation,such as:the control system powered off,system halted,water leakage.Finally,through simulation and trial,the result manifests that the jettison execution efficiency is reach to 100%when the weight of jettison is less than 10 kg,and its energy consumption is 2.8 W.In addition,the pressure resistant property of jettison system is tested.Through measured with the pressure device,the jettison system runs well within 10 MPa,its pressure resistant property is verified and meets the requirement of overall design.

关 键 词：自主水下航行器 安全抛载 可靠性设计 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]