Research On The Hydraulic System And Control Technology Of AUV Docking Device

AUV(Autonomous Underwear Vehicle)is an important underwater equipment on the areas of marine inspection,undersea exploration,maritime rescue and other fields.However,due to the limited volume of AUV,it is difficult to maintain the energy to ensure its long,large-scale operations.It's needed to make energy supply the AUV with energy.Underwater AUV docking technology can complete the docking behavior between the AUV and underwater docking station through a flexible cable,thus achieving charging,data exchange,and other functions.AUV underwater docking technology play an important role in extending the operating time,expanding the scope of AUV operations.This article summarizes and analyses the current research of AUV underwater docking technology and determine the overall program AUV underwater docking device combined with the issue needs.Compared to other AUV underwater docking device docking device program identified herein docking device docking tube can adjust the horizontal position and the opening direction of the guide cover by leveling mechanism and rotating mechanism,so that the docking device can adapt to the seabed topography and ocean currents flow,thereby improving the docking success rate.On the basis of the overall program on the docking device,this article focuses on the hydraulic system and control technology of the docking device.The traditional technique of hydraulic oil in the sea due to leakage on the marine environment pollution,water pollution studied hydraulic technology,design and seawater seawater hydraulic system hydraulic system component selection docking device according to the technical requirements.Because there are still some limitations on seawater hydraulic technology,this paper experimental study aqueous media under vane air motor and piston air motor performance to seek alternatives seawater hydraulic components.The result of water medium air motor performance can not meet the needs of the subject.By experimental research this article uses the water-glycol hydraulic fluid as the working medium of the hydraulic system solutions.After determining the hydraulic system,this paper detailedly designs the hydraulic system and develops a complete prototype.According to the technical requirements of the docking device and actuator parameters,this article selects the hydraulic motor and develops underwater hydraulic cylinder with a position detection function,then determines hydraulic pumps,motors,and other hydraulic pressure compensator system power source.To solve the problem of the hydraulic system seals,this article designs the capsule.On thisbasis,this article develops a hydraulic system prototype conducted a land system.Appeared for the hydraulic system in the high-pressure experiments and DC motor controller does not match and inductive proximity switches instability problems,this article analyses to determine the cause of the fault through experimental and theoretical analysis,through replacing the motor and motor controllers and electromagnetic shielding measures to solve the interference problem.Based on the docking process,this article analyses the sensors and actuators of control system.To realise the data acquisition and control of electrical and hydraulic systems,this article designs the hardware and software of control system,with numerous experiments exam feasibility and reliability of the system.To solve the problem of sealing control system,this paper designs the control system electronics compartment and develops docking device control system prototype.In order to study the performance of the hydraulic control system,this article establishes modeling of hydraulic system lock loop,mathematical model derived locked loop valve controlled asymmetric hydraulic cylinder,draw overall system on the basis of mathematical models and simulation using Matlab and PID control algorithm to improve the control system performance and device locking experiments on land by docking simulation experiments.To verify the performance of the function module docking device and hydraulic control system,this article and its independent testing laboratory experiments onshore FBI solve the experiment during braking mechanism braking torque shortage.To be able to accurately gauge reading from the pressure sensor and the flow velocity required quantities,this article carrys a pressure sensor and a flow rate of the flow meter calibration experiments.In this paper,the energy consumed is measured by the experimental determination to provide a reference for the docking device underwater power supply design.