Design and characteristic analysis of variable buoyancy system for long range autonomous underwater vehicle

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 海洋机器人卓越创新中心

	Design and characteristic analysis of variable buoyancy system for long range autonomous underwater vehicle
	Sun ZY(孙朝阳)1,2; Yu JC(俞建成)1,2; Zhang AQ(张艾群)1; Huang Y(黄琰)1,2; Wang ZY(王振宇)1,2
	2019
会议日期	July 19-21, 2019
会议地点	Shenzhen, China
关键词	long range autonomous underwater vehicle variable buoyancy system flow control buoyancy control
页码	1-6
英文摘要	Variable buoyancy system (VBS) is important for long-range autonomous underwater vehicles (AUVs) to adjust the buoyancy change caused by environmental density changes dynamically, and it is the core component of AUV to realize near-neutral buoyancy navigation and unpowered submerging and floating. Accuracy of AUV’s pitching angle change model caused by buoyancy adjustment and the flow uniformity of hydraulic oil are the key factors to achieve efficient and high-precision buoyancy control and reduce the power consumption of buoyancy adjustment. Variable buoyancy system with the functions of quantitative oil exhaust, deep-sea passive oil entry and shallow-sea active oil entry was developed. The dynamic effects of buoyancy adjustment on AUV center of gravity, center of buoyancy and pitch angle were analyzed, and a correction model of moving amount of AUV center of gravity caused by buoyancy adjustment was established. With the help of designed pressure simulation system and hydraulic station, the oil exhaust flow rate and passive oil entry flow rate under different pressure were tested. Results shown that, when the oil from internal bladder to external bladder, the displacement flow rate decreases slightly but it is approximately uniform with the increase of external pressure (depth) and the flow rate in passive oil entry process is uniform and controllable. Finally, the depth-fixed navigation experiments were carried out in Thousand-island Lake, and the VBS performance is stable and reliable.
产权排序	1
会议录	Proceedings - 2019 4th International Conference on Automation, Control and Robotics Engineering, CACRE 2019
会议录出版者	ACM
会议录出版地	New York
语种	英语
ISBN号	978-1-4503-7186-5
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/25785]
专题	海洋机器人卓越创新中心
通讯作者	Sun ZY(孙朝阳)
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China; Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China; 2.University of Chinese Academy of Sciences, Beijing, China
推荐引用方式 GB/T 7714	Sun ZY,Yu JC,Zhang AQ,et al. Design and characteristic analysis of variable buoyancy system for long range autonomous underwater vehicle[C]. 见:. Shenzhen, China. July 19-21, 2019.