海底AUV关键技术综述  

A review of subsea AUV technology

作　　者：周晶[1] 司玉林[2] 林渊[2] 魏艳[2] 安新宇 王杭州[2] 黄豪彩[2] 陈鹰[2,3] Zhou Jing;Si Yulin;Lin Yuan;Wei Yan;An Xinyu;Wang Hangzhou;Huang Haocai;Chen Ying(College of Electrical Engineering,Zhejiang University,Hangzhou 310027,China;Ocean College,Zhejiang University,Zhoushan 316021,China;State Key Laboratory of Fluid Power and Mechatronic Systems,Hangzhou 310058,China)

机构地区：[1]浙江大学电气工程学院,浙江杭州310027 [2]浙江大学海洋学院,浙江舟山316021 [3]流体动力与机电系统国家重点实验室,浙江杭州310058

出　　处：《海洋学报》2023年第10期1-12,共12页

基　　金：国家重点研发计划项目(2017YFC0306100);国家自然科学基金面上项目(52271352);江苏省重点研发计划项目(BE2022062)。

摘　　要：海底海洋的观测探测,亟需大范围、长时间的观测平台。海底AUV有三大要点:适应海底机动性的结构、适应海底复杂环境的机敏运动性能、适应海底的水声通信定位技术。本文分析了海底AUV的发展与演变历程,凝练出海底AUV的关键技术难题,并相应地给出海底AUV水动力外形优化技术、海底AUV机敏运动控制技术、海底水声通信与定位导航技术、海底接驳与充电技术的解决思路。最后以碟形结构的水下直升机为例,给出了海底AUV的实践探索一例。本文将为海底AUV及其观测探测技术的发展提供指导意义。The observation and exploration of the seabed urgently requires the appearance of large-scale and long-term observation platforms.The subsea AUV has three main points:a structure that suitable for the mobility in the seabed,an intelligent motion performance that adapts to the complex environment of the seabed,and the underwa-ter acoustic communication and positioning technology that adapts to the seabed.In this paper,the development and evolution of subsea AUV is analyzed,the key technical challenges of underwater AUVs are summarized,and cor-responding solutions for underwater AUV hydrodynamic shape optimization technology,intelligent motion control technology,underwater acoustic communication and positioning navigation technology,and underwater connec-tion and charging technology are provided.Finally,a study case of Autonomous Underwater Helicopter is given,to provide a solution for subsea AUV.This paper provides guidance for the development of subsea AUV,as well as ocean observation and exploration technology.

关 键 词：无人潜水器 海底 海洋观测探测 机敏运动 水声通导 

分 类 号：P715.5[天文地球—海洋科学]