一种多级缸结构的浮力调节装置及其精度分析  

Design and Precision Analysis of Buoyancy-Regulating Device with Multicylinder Structure

作　　者：宋满存[1,2] 李国强 朱熠[1,2] 田冠枝 张令程[1,2] 王智慧 SONG Mancun;LI Guoqiang;ZHU Yi;TIAN Guanzhi;ZHANG Lingcheng;WANG Zhihui(Beijing Institute of Precision Mechatronics and Controls,Beijing 100076,China;Laboratory of Aerospace Servo Actuation and Transmission,Beijing 100076,China)

机构地区：[1]北京精密机电控制设备研究所,北京100076 [2]航天伺服驱动与传动技术实验室,北京100076

出　　处：《华南理工大学学报（自然科学版）》2021年第9期120-125,共6页Journal of South China University of Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(U1737202)。

摘　　要：浮力调节装置可用于无人潜航器的浮力控制,使其节能地实现上浮、下潜或悬停等功能。文中基于5级缸结构设计了一款大容积高精度的液压油容积式浮力调节装置,通过位移传感器监控活塞位置并对多级缸伸缩特性进行假设,得到了浮力分段解算方法和最大可能误差范围;通过样机研制与试验,验证了多级缸在磨合后趋于伸缩特性假设的事实,同时对浮力分段解算方法进行了优化拟合,大幅提高了该浮力调节装置的精度。试验证明,文中样机可以满足0~80 L浮力连续可调、1 L最小调节步长、综合调节精度不低于0.5%FS的指标要求。Buoyancy regulating device can be used in unmanned underwater vehicles to realize the energy-saving rising,diving or suspending in the water.In this study,a buoyancy-regulating device with lager volume and high precision was designed with a five-cylinder structure.Firstly,the piston position was monitored by a displacement sensor and the telescopic characteristics of the multicylinder were assumed,so that the piecewise method of buo-yancy and the maximum possible error range were obtained.Then,based on the design and experiments of the prototype,the fact that the multicylinder tends to retain the characteristics after running was verified.Meanwhile,the piecewise method of buoyancy calculation was optimized to improve precision ability largely.Experimental results show that the prototype can meet the requirements of the continuous buoyancy regulating of 0~80 L,the minimum regulating step of 1 L,and the comprehensive precision of no less than 0.5%FS.

关 键 词：浮力调节装置 水下潜航器 无人系统 多级缸 精度 

分 类 号：TH137[机械工程—机械制造及自动化]