Research And Design Of AUV Buoyancy Compensation System

In recent years,more and more attention has been paid to the exploitation and utilization of marine resources.As a tool and carrier of exploring oceans,AUV has made great progress with the development of human process of ocean.The long voyage AUV is developing towards long voyage,multi-function and intelligence.Buoyancy control system is the key control system for zero-buoyancy navigation of AUV.High-efficiency and low-power buoyancy regulation system can effectively reduce the energy consumption of AUV,and plays an important role in ensuring AUV non-dynamic heave and buoyancy adjustment.Based on the deep research on the existing buoyancy regulation system at home and abroad,this paper develops a capsule-type buoyancy adjusting device with compact structure,small power loss and precise control of buoyancy regulation.AUV achieves zero-attack angle and deep buoyancy balance under different navigation depths.In this paper,the buoyancy regulation method is studied and the oil-pocket buoyancy regulation system is designed according to the AUV control requirements.The following research work is mainly carried out:(1)The overall design of the buoyancy regulating system:Compared with the common structure of the buoyancy regulating system,it is clear that different agencies to adapt to the occasion,and ultimately determine the use of oil bag type buoyancy regulating system.According to the functional requirements and technical specifications of the oil capsule regulating device,so that analyze the technical difficulties.According to these technical difficulties,the project solution is proposed,the design principle diagram,then the key components of the stress analysis and simulation analysis,and ultimately determine the shape of the parts,components selection,and then complete the overall structure design.(2)Simulation study on loading test system:With the AMEsim simulation software,establish simulation model of the buoyancy regulating system,aiming at the difficulty of buoyancy control in real-time,AMEsim simulation was carried out and its control effect was validated by simulation analysis.It provided theoretical data and data to support the later loading experiment.The power consumption and efficiency of buoyancy control mechanism Experimental Study.(3)The buoyancy regulating system of water depth is 2000m,through the laboratory testing platform of pressure measurement,with the different depth but the same speed,power consumption of the buoyancy regulating system,and the efficiency of the same depth,with the different speed,power consumption of the buoyancy regulating system efficiency.At the same time,the buoyancy compensation system can be verified whether the 0-10m depth can be adjusted.