Oil sac-type underwater glider buoyancy accurate control method

An underwater glider, temperature-salt technology, applied to underwater ships, underwater operating equipment, height or depth control, etc., can solve problems such as inability to effectively capture ocean phenomena, and inability to ensure in-situ observation of ocean phenomena

Inactive Publication Date: 2018-01-05
熊学军
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Problems solved by technology

This buoyancy control method has certain limitations for the observation of underwater glider, which is mainly manifested in continuous upward and down...

Method used

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  • Oil sac-type underwater glider buoyancy accurate control method
  • Oil sac-type underwater glider buoyancy accurate control method

Examples

Experimental program
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Embodiment Construction

[0013] 1. Establish a profile model of ocean temperature and salt density. Establish a basic temperature-salinity profile model by using historical observation data and the initial profile observation data of the underwater glider, and obtain the vertical distribution of seawater temperature, salinity, and density in the target area. Changes, using the observations to correct the temperature and salt density model.

[0014] 2. Propose the hydraulic pump control algorithm of the buoyancy system.

[0015] 1) From the pressure test, the volume V of the pressure-resistant shell of the underwater glider under different water pressures is calibrated 2 ;

[0016] 2) According to the density of seawater on the sea surface and the volume of the underwater glider under normal pressure, take an intermediate value V of the oil volume variation range of the outer skin bag 01 , as the reference value of the neutral state of the underwater glider;

[0017] 3) According to the seawater de...

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Abstract

The invention belongs to the technical field of oil sac-type underwater glider buoyancy control and provides an oil sac-type underwater glider buoyancy accurate control method. Due to the purpose of controlling the oil sac-type underwater glider to reach neutral hovering at any working depth in floating observation, a sea temperature salt density section model is built, a corresponding seawater density is outputted according to the inputted depth, the temperature salt density section model is combined, through a hydraulic pump control algorithm, the hydraulic pump is driven to adjust the drainage volume of the oil sac, the underwater glider is controlled to reach balance between the buoyancy and the gravity at any working depth, and besides, acceleration sensor signals and pressure sensorsignals are returned to a main control system as a sign of the underwater glider to reach the neutral hovering. The characteristics that the underwater glider can reach neutral hovering are highlighted, a new application method is provided for an underwater glider observation technology, the underwater glider thus can perform in-situ observation on the internal phenomena of the sea, and the observation result is more accurate and careful.

Description

technical field [0001] Oil bladder type underwater glider buoyancy control technology. Background technique [0002] An underwater glider is an autonomous underwater unmanned vehicle that combines buoy technology and underwater robotic technology. The underwater glider is driven by net buoyancy, and the periodic conversion of positive buoyancy and negative buoyancy is realized through the buoyancy adjustment mechanism, and the appropriate pitch angle is achieved through the attitude adjustment mechanism. The combination of the two makes the underwater glider move forward while floating or diving. Paragliding. The underwater glider can be equipped with a variety of sensors for ocean observation, and has a communication system that can perform data transmission and remote control when it surfaces. The underwater glider has the characteristics of target addressing, satellite observation, in-situ observation, and neutral body control, and has broad application prospects in the...

Claims

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Application Information

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IPC IPC(8): G05D1/06B63G8/22
Inventor 宗正熊学军胡筱敏李小龙
Owner 熊学军
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