Auv's buoyancy adjustment device and control method

Abstract

The invention discloses a buoyancy regulating device and a control method for an AUV, which mainly consists of a bow pressure-resistant oil tank (8), a storage battery (2), a depth gauge (3), a controller (4), a radio station (5), a Beidou It consists of a satellite positioning system (6), an inertial navigation system (7), a stern pressure-resistant fuel tank (1), an oil bag (9) and a combined antenna (10). The present invention realizes rapid surfacing and submerging of the AUV by effectively adjusting the volume of the oil bag of the AUV and the attitude of the AUV when surfacing and diving under the condition of known water depth and underwater environment. The advantage of the unpowered vertical snorkeling structure designed by the present invention is that the upstream area of ​​the vertical surface is reduced when floating and diving, thereby reducing the vertical resistance. Under the condition of a certain buoyancy, it can float faster Dive and reduce energy consumption, and finally achieve the purpose of extending the working time of AUV underwater.

Description

technical field [0001] The invention relates to a buoyancy regulating device and a control method for AUV rapid snorkeling movement, belonging to the field of AUV control. Background technique [0002] In recent years, Autonomous Underwater Vehicle (AUV) has been a hot spot in the research work of countries all over the world, and has been widely used in marine scientific research, marine resource investigation, salvage and lifesaving and other fields. With continuous efforts, my country's deep-sea AUV has made important breakthroughs in technology, carried out many large-scale applications, and played an irreplaceable role in various fields. However, when AUVs perform tasks, due to factors such as limited energy, difficulty in exploring unknown environments, and even machine failures, the tasks performed may not be completed at one time. submerged mission. [0003] The currently known AUV dives generally adopt a no-pitch and no-power diving method, such as the no-pitch an...

AI Technical Summary

Problems solved by technology

When performing multiple tasks in this way, its working time will be wasted due to the long time of floating and diving, and it will also waste the energy carried by the AUV.

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