Development And Experiment Of Buoyancy System For Multi-Navigation Marine Unmanned Vehicle

The Multi-navigation marine unmanned vehicle uses the dual modes of surface navigation and underwater gliding to carry out multi-domain monitoring of air,surface and underwater.Buoyancy system is the key system for switching status between underwater gliding and surface navigation,which is closely related to the navigation characteristics and navigation state switching of the multi-navigation vehicle.In this paper,based on the modular design concept,a buoyancy system for underwater gliding hydraulic driven and surface seawater ballast regulation function was developed.The rationality of the scheme and reliability of the system are verified by experiments.The main research contents and results of this paper are as follows:(1)The working characteristics and performance of the existing buoyancy regulation schemes of the marine vehicle were analyzed and compared in this paper,and we put forward the overall buoyancy regulation scheme of the multi-navigation vehicle.The underwater gliding and surface navigation models of the multi-navigation state vehicle were set up and we carried out the key hydrodynamic study on navigation features.Based on the computational fluid dynamics method,the hydrodynamic simulation of the vehicle was carried out.The basic rules of the buoyancy system configuration parameters and the vehicle hydrodynamic parameters were summarized according to the calculation results,and the design values of the configuration parameters of the buoyancy system were determined.(2)Based on the overall scheme of the buoyancy system and the design values of the configuration parameters,the development of the modular buoyancy system were carried out,and the detailed design schemes of the hydraulic driven subsystem and the seawater ballast subsystem were proposed.It broke through the key technologies of accurate detection of vehicle oil content and rapid regulation of large-volume ballast seawater,and we developed the key components of the system:high-precision piston internal tank,large-displacement low-pressure pump and ballast water tank.The checking calculation of pressure loss of hydraulic driven subsystem was carried out,which proved the correctness of the design theoretically.The detailed design of buoyancy system was carried out,and the layout and integration form of buoyancy system in multi-navigation state vehicle was determined.(3)The function test of the key components was carried out to prove that the performance of key components met the design requirements.The hydraulic driven regulation test system and seawater ballast regulation test system were built,and the whole process tests of the hydraulic driven subsystem and seawater ballast subsystem were carried out to verify the scheme rationality and working reliability of the buoyancy system of the multi-navigation vehicle.