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万米级水下机器人浮力实时测量方法
Alternative TitleReal-time Measurement Method of Buoyancy of a Full-Ocean-Depth Underwater Robot
刘鑫宇; 李一平; 封锡盛
Department水下机器人研究室
Source Publication机器人
ISSN1002-0446
2018
Volume40Issue:2Pages:216-221
Indexed ByEI ; CSCD
EI Accession number20183005583486
CSCD IDCSCD:6211573
Contribution Rank1
Funding Organization中国科学院战略性先导科技专项(XDB06050200)
Keyword无人水下航行器 深潜器 浮力测量 推进器 加速度计
Abstract

提出了一种适用于万米级水下机器人的实时浮力测量方法,主要解决大于一万米水深环境下密度变化、新材料力学参数不确定等因素造成浮力计算困难的问题.该方法基于推进器和加速度计进行浮力测量.为了减少相关动力学参数不确定性对测量结果的影响,水下机器人需要在海底执行特殊的运动动作.文中讨论了该方法的特点和适用情况,并使用“海斗”号自主遥控水下机器人(“海斗”ARV)在近10900 m深的海底中进行了实验验证.实验结果表明,该方法测量得到的结果与参考值的平均误差为0.3 N,满足预期要求.

Other Abstract

A real-time buoyancy measurement method is presented for a full-ocean-depth underwater robot to solve the difficulties in buoyancy calculation due to the change of density and the uncertainty of mechanical parameters at more than 10,000 meters depth. This method measures the buoyancy based on the propeller thrust and acceleration measurement. To minimize the measurement errors caused by the uncertainty of the dynamic parameters, the underwater robot need to perform a special motion. In this paper, the characteristics and application of the method are discussed, and an experiment is carried out at nearly 10,900 meters depth using the Hadal autonomous & remotely operated vehicle (Hadal ARV). The experimental results show that the average error of the measured result is 0.3 N, which satisfies the expected requirement.

Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/21634
Collection水下机器人研究室
Corresponding Author李一平
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院大学
Recommended Citation
GB/T 7714
刘鑫宇,李一平,封锡盛. 万米级水下机器人浮力实时测量方法[J]. 机器人,2018,40(2):216-221.
APA 刘鑫宇,李一平,&封锡盛.(2018).万米级水下机器人浮力实时测量方法.机器人,40(2),216-221.
MLA 刘鑫宇,et al."万米级水下机器人浮力实时测量方法".机器人 40.2(2018):216-221.
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