|Alternative Title||Research on AUV Variable Buoyancy System Method and Applied Technology Based on State Observation|
|Keyword||Auv 浮力调节系统 运动建模 定深悬浮 水下着陆|
|Place of Conferral||沈阳|
This paper focuses on the variable buoyancy system and the applied technology based on the variable buoyancy system, Mainly done several research work : (1) Analysing and researching the research results of buoyancy control systems at home and abroad, an oil bladder variable buoyancy system was proposed specifically, and prototypes were machined. Through the pool and lake tests, the existing variable buoyancy system is optimized to make the flow measurement more accurate. (2) The establishment of a reference coordinate systems for AUV underwater motion modeling and the transformation between coordinate systems are introduced. A detailed analysis of the static and hydrodynamic forces encountered during underwater navigation of AUV . Based on the above, the horizontal motion and vertical motion equations of AUV are deduced. At the same time, the simplified rules of the spatial 6-DOF motion equation of AUV are introduced. (3) Based on the spatial 6-DOF motion equation, the motion model in AUV navigation is established. The experimental scheme is designed to obtain the actual navigation data, and the corresponding relationship model between the motion parameters (horizontal rudder angle and pitch angle) and buoyancy state is established. At the same time, the established model was tested on the lake and compared with the modelless control method. Through comparative analysis, it is concluded that when the control accuracy is high, the model control is used; when the accuracy requirement is low, the modelless control is used. (4) For the demand of AUV fixed-depth suspension, a fixed-depth levitation test was carried out based on variable buoyancy system. Using a control method without model feedback, a three-meter-deep and a 10-meter-deep lake test was performed to verify that the test error meets the engineering requirements. At the same time, a comparison was made between the power consumption determined by the variable buoyancy system depth setting and the depth setting by the depth of the vertical slot thruster. The data support the variable buoyancy system to meet the requirements of energy saving. (5) AUV underwater landing test based on variable buoyancy system for AUV fixed-point observations . Two underwater landing test schemes were proposed: one is control buoyancy vertical diving, and the other is to sailing landing and then control buoyancy vertical diving. In the test, the actual navigation verification was carried out for each of the two schemes. Through comparative analysis, it was concluded that the second scheme was more in line with the requirements. At the same time, The underwater sitting time of the currently designed variable buoyancy system was tested on the lake with the longest underwater sitting time of 5 days.
|孙庆刚. 基于状态观测的AUV浮力调节方法和应用技术研究[D]. 沈阳. 中国科学院沈阳自动化研究所,2018.|
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