AUV浮力调节装置的设计及试验  

Design and testing of AUV variable buoyancy device

作　　者：李默竹[1,2] 郑荣 任福琳[1,2] 杨斌[1,2] LI Mozhu;ZHENG Rong;REN Fulin;YANG Bin(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Robotics and Intelligent Manufacturing Innovation Institute,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机器人学国家重点实验室,辽宁沈阳110016 [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：《中国舰船研究》2021年第S01期11-18,共8页Chinese Journal of Ship Research

基　　金：国防基础科研计划资助项目(JCKY2019207A019)。

摘　　要：[目的]自主式水下航行器(AUV)在使用过程中受不同水域密度差异的影响,需相应计算和调整其配平状态及控制参数,而增加浮力调节装置可以使AUV具备更好的自主调节能力,适应更多的应用场景。[方法]基于可变体积原理,设计一种采用油囊吸排油方法的浮力调节装置,实现双向定量传油,通过改变外油囊体积来调节AUV的浮力状态。[结果]水池性能测试及搭载AUV湖试的结果表明,所设计的浮力调节装置可以辅助AUV在水中完成定深悬停、航行下潜等功能,实现了在51 m深的湖底成功着陆,原地完成90 h低功耗坐底观测。[结论]试验证明了浮力调节装置工作的有效性,为提高AUV使用效能、扩展应用范围提供了可能性。[Objectives]The motion state of autonomous underwater vehicle(AUV) is impacted by different densities of water, so it is necessary to recalculate the balance and control parameters. However, the use of a variable buoyancy device can add a more effective self-regulation capability to the AUV, making it suitable for operation in a wider range of scenarios.[Methods]This paper proposes the design of a variable buoyancy device for an AUV. Through adopting an oil bladder that can intake/discharge oil and transfer it quantitatively in a dual manner, the device can change the volume of the external oil bladder and regulate the AUV’s buoyancy status.[Results]The results of the tank and lake tests show that the designed device can help the AUV to achieve the functions of fixed-depth hovering and diving during navigation, and complete a 90-hour mission of low-power-consumption parking for in-situ observation after soft-landing on the lakebed at a depth of 51 m.[Conclusions]The results prove the validity of the variable buoyancy device and lay the groundwork for enhancing the operation effectiveness of AUVs, as well as extending their application scope.

关 键 词：浮力调节装置 自主式水下航行器 管理系统 湖试 坐底观测 

分 类 号：U674.941[交通运输工程—船舶及航道工程]