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Alternative TitleResearch on the Variable Buoyancy System and Adaptive Depth Control for AUV
Thesis Advisor郑荣
Keyword自主水下机器人 Amesim液压系统 活塞缸式浮力调节 油囊式浮力调节 深度控制 模糊自适应pid控制
Call NumberTP273.2/W38/2015
Degree Discipline机械电子工程
Degree Name硕士
Degree Grantor中国科学院沈阳自动化研究所
Place of Conferral沈阳
Other AbstractVarious kinds of underwater equipments are created to facilitate the increasing exploration of the marine resources, among which the marine robots such as Autonomous Underwater Vehicle (AUV) are the most widely used. The changes in the marine environment lead to an imbalance of gravity and buoyancy for the AUV, which affect their working performance. To address this problem, variable buoyancy systems (VBS) are developed. Based on the changes in the marine environment as well as the self-characteristic and job requirements of AUV, VBS adjust the buoyancy or gravity of the marine equipments such that the required working conditions could be reached. However, due to the complexity underwater environment and nonlinearity, conventional passive controllers are not good enough. In this paper, two kinds of variable buoyancy systems and buoyancy-based regulation system are developed to control the depth of AUV. The main contributions are summarized as following:First, according to the working environment, two variable buoyancy systems with different parameters and specifications are developed. Scheme 1 is a piston-cylinder-based variable buoyancy system, which adjust the buoyancy through driving the piston cylinder to absorb or expulse sea water. Scheme 2 is an oil-capsule-based variable buoyancy system, which adjust the buoyancy by the volume changes of the oil capsule due to the back and forth flowing of the fluid between the pressure tank and the oil capsule. Also the three-dimensional models establishment, intensity examinations, hydraulic system design and simulation analysis of the two schemes are done, respectively. Then, comparison between the above two buoyancy regulating devices is conducted. The results show that the piston-cylinder-based variable buoyancy system have a characteristic of light weight, small size and high accuracy. After that, the depth control of the AUV with the piston-cylinder-based variable buoyancy system is further studied. We conclude that the fuzzy adaptive PID control has great advantages in the regulation speed, overshoot and anti-disturbing.Finally, experiments on free load/loaded conditions of the piston-cylinder-based variable buoyancy system are conducted. The main purposes are accuracy verification and testaments on loaded conditions. On free load conditions, hydraulic system feasibility, the accuracy of the liner displacement sensor and the platform working performance are examined. Then the experiments on loaded conditions, including pressure endurance capability, moving velocity of piston in different pressure to check whether it meet the parameters and specifications requirements.
Contribution Rank1
Document Type学位论文
Recommended Citation
GB/T 7714
王雨. AUV浮力调节系统及深度自适应控制研究[D]. 沈阳. 中国科学院沈阳自动化研究所,2015.
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