海斗号全海深水下机器人体积弹性模量建模方法  

Method of bulk elastic modulus modeling for haidou full-depth ocean underwater vehicle

作　　者：卜林海 唐元贵[2,3,4] 郑鹏 BU Linai;TANG Yuangui;ZHENG Peng(School of Mechanical Engineering,Shenyang University of Technology,Shenyang 110870,China;State Key Laboratory of Robotics,Shenyang Institute of Automation,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;Key Laboratory of Marine Robotics,Liaoning Province,Shenyang 110169,China)

机构地区：[1]沈阳工业大学机械工程学院,辽宁沈阳110870 [2]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 [3]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169 [4]辽宁省水下机器人重点实验室,辽宁沈阳110169

出　　处：《舰船科学技术》2024年第20期87-93,共7页Ship Science and Technology

基　　金：国家自然科学基金面上项目(62173320);辽宁省兴辽英才计划项目(XLYC1807234)。

摘　　要：面向海斗号全海深水下机器人万米深潜对重力与浮力的匹配性需求,研究其跨越万米深度过程中因体积变化而引起其浮力变化的海洋环境因素影响机理,分析各海洋环境因素对海斗号重力与浮力匹配的影响;基于机理分析法,构建海斗号全海深水下机器人综合体积弹性模量数学模型,为面向不同深度的作业任务提供浮力配平依据,实现其对不同深度剖面的环境适应性;利用海斗号不同下潜深度的海上试验数据,验证了本文构建的海斗号全海深体积弹性模量模型的准确性,为全海深水下机器人深度剖面环境适应性实现方案提供了模型参考和理论依据。Aiming at the matching requirements of gravity and buoyancy for the full-depth ocean underwater vehicle of Haidou in 10000 meter depth,the influence mechanism of Marine environmental factors on the change of buoyancy caused by volume change during the process of its 10000 meter depth crossing was studied,and the influence of various Marine en-vironmental factors on the matching of gravity and buoyancy of Haidou was analyzed.Based on the mechanism analysis method,a comprehensive mathematical model of the bulk elastic modulus of the full-depth ocean underwater vehicle was constructed to provide a basis for buoyancy trim for tasks at different depths and realize its environmental adaptability to dif-ferent depth profiles.Based on the sea test data of different diving depths of Haidou,the accuracy of the full-depth ocean bulk elastic modulus model of Haidou constructed in this paper is verified,and the model reference and theoretical basis are provided for the implementation plan of the underwater vehicle depth profile environment adaptability in the full-depth ocean.

关 键 词：全海深水下机器人 机理分析法 体积弹性模量 深度剖面环境适应性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]