Development of a variable buoyancy system for the long term station-keeping profile observing AUV

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	Development of a variable buoyancy system for the long term station-keeping profile observing AUV
	Yin Y(尹远); Liu TJ(刘铁军); Xu HX(徐会希); Jiang ZB(姜志斌); Shi K(石凯)
	2019
会议日期	April 10-13, 2019
会议地点	Wuhan, China
关键词	Variable Buoyancy System Stationkeeping Low power AUV
页码	858-865
英文摘要	The Autonomous Underwater Vehicle (AUV) is a submersible with energy, autonomous navigation, and a wide range of sensors, which is an important means of marine observation. More and more attention has been paid to the long-term observation of the marine environment using AUVs. Due to the restriction of energy and operation mode, traditional autonomous underwater vehicle can work very short time. In order to meet the long-term observation requirements of marine environment, a new type of autonomous underwater vehicle named Long Term Station-keeping Profile Observing AUV with variable buoyancy system has been developed. By carrying the variable buoyancy system, the AUV can be adjusted to neutral before travelling which will help to reduce the resistance; When vertical profile observing, the AUV's diving and surfacing are realized by VBS without continuous power consumption; During the observation interval, AUV is adjusted to neutral in water, and by closing the carrying equipment, the AUV gets into sleep state so as to save energy. Through these measures, it is expected to achieve long-term observation by AUV for one month. The key is the high precision variable buoyancy system with bidirectional regulation ability, which can adjust the residual buoyancy and pitch angle at any working depth. In order to realize the precise adjustment of buoyancy, a seawater piston cylinder is adopted. By measuring the position of the piston in the sea water cylinder accurately, the precise control of the amount of buoyancy adjustment can be realized. Through laboratory proofing and sea tests, the variable buoyancy system has attained its design targets expected. The AUV equipped with this system can realize underwater suspension at fixed depth, diving, surfacing and low energy sleep, which has carried out many marine applications in the Yellow Sea, the South China Sea and the East China Sea, and it proved to be stable and reliable. The results of laboratory and sea tests show that the variable buoyancy system with seawater cylinder features high accuracy and reliable operation.
产权排序	1
会议录	Proceedings of the 8th International Conference on Fluid Power and Mechatronics, FPM 2019
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-7281-0311-2
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/26732]
专题	沈阳自动化研究所_水下机器人研究室
通讯作者	Liu TJ(刘铁军)
作者单位	Chinese Academic of Sciences, Shenyang Institute of Automation, Shenyang, China
推荐引用方式 GB/T 7714	Yin Y,Liu TJ,Xu HX,et al. Development of a variable buoyancy system for the long term station-keeping profile observing AUV[C]. 见:. Wuhan, China. April 10-13, 2019.