Research On Variable Buoyancy Device Of Oil Bladder Type

With the development of oceanography science and technology, the research ofocean monitoring and exploration equipments are becoming more and more widespread.As the particularity of ocean environment, buoyancy regulation is typically important andcritical for such equipments. After analyzing the research status and the developmenttrends of underwater buoyancy regulation technology, the Variable Buoyancy Device(VBD) of oil bladder type was developed for small and medium underwater equipmentsin this paper. Its prominent features which are light, smart and energy conservationconform to various demands of ocean environment.Firstly, According to the requitments of the Variable Buoyancy Device, the principleof feasible solution was developped in the paper. And the emphases and difficulties inscheme design were generalized. Then, critical components were designed and selected.The overall structural design was completed.Secondly, the hardware and software of the control system were design anddevelopped in accordance with the requierment of low power consumption for VariableBuoyancy Device. The scheme of its electric circuit was based on MSP430seriesmicroprocessor, and the power consumption was minimized not only by electroniccomponents selection but also dynamic mangement of energy. Meanwhile, the softwaredevelopment was completed crresponding to the function of buoyancy regulation.Then, the prototype of the Variable Buoyancy Device of oil bladder type wasmanufactured, and an experiment system was designed for its performance testing andtuning. Under the laboratory condition, the idle debugging experiment was executed.According to massive experimental data, calibration and compensation wereimplemented in the control program, which dramatically enhanced the control accuracy.Finally, in order to achieve on-load working performance testing research, theloading experiment system was designed and simulated. To make pressure controlparameters follow the volume change, the adaptive GA-based PID controller wasdesigned. According to the simulation analysis, the algorithm is feasible and provides atheoretical basis for loading experiment.