Buoyancy and attitude equalization control method for long-range auv

Abstract

The invention provides a buoyancy force and attitude balancing device used for long-voyage AUV and a control method. The buoyancy force and attitude balancing device comprises a buoyancy force balancing device, a buoyancy force balancing controller, a vertical plane motion controller, an attitude sensor and a depth sensor, wherein the attitude sensor is used for detecting an attitude, during underwater navigation, of the AUV; the depth sensor is used for detecting depth, during underwater navigation, of the AUV; the vertical plane motion controller is used for controlling the AUV to move at definite depth on the vertical plane; the buoyancy force balancing controller is used for controlling speed that an oil pump pumps oil into oil bags or sucks oil from the oil bags in the buoyancy force balancing device; the buoyancy force balancing device is used for regulating buoyancy force and a longitudinal inclination attitude, during underwater navigation, of the AUV; the buoyancy force balancing device consists of a pressure-resistant oil tank and two oil bags; the pressure-resistant oil tank is on the gravity center of the AUV; and the two oil bags are separately arranged at the bow and the stern of the AUV. The buoyancy force and attitude balancing device provided by the invention can be used for effectively regulating buoyancy force and gravity force balancing, in water, of the AUV, and eliminating longitudinal inclination angle errors of the AUV, so that resistance when the AUV navigates at definite depth is reduced, and AUV voyage is increased under the condition of carrying same energy sources.

Description

technical field [0001] The invention relates to a device and a method for controlling vertical surface motion and buoyancy balance control of an autonomous underwater vehicle. Background technique [0002] Autonomous Underwater Vehicle (AUV) is an important substitute and executor for human beings in marine activities, especially in deep sea activities. very broad. According to the needs of marine resources development, the use of oceans continues to expand to deep seas and far seas; AUVs are constantly developing towards multi-tasking and autonomy. However, when a multi-mission AUV is on a long-distance voyage, the ocean temperature, seawater density, and the dynamic system of the AUV body may all change, resulting in changes in the buoyancy of the AUV and resulting in uneven buoyancy. [0003] When the AUV is affected by the residual buoyancy when navigating underwater, it will cause the AUV to have a certain pitch angle when navigating underwater to determine the depth ...

AI Technical Summary

Problems solved by technology

However, when a multi-mission AUV is on a long-distance voyage, the ocean temperature, seawater density, and the dynamic system of the AUV body may all change, resulting in a change in the buoyancy of the AUV and causing an imbalance in buoyancy.

[0003] When the AUV is affected by the residual buoyancy when navigating underwater, it will cause the AUV to have a certain pitch angle when navigating underwater to determine the depth to overcome the influence of the residual buoyancy. This phenomenon leads to an increase in the navigation resistance of the AUV and increases energy consumption. Reduced range of AUVs

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