Umbrella rib type underwater vehicle depth and posture adjusting device and control method thereof

Abstract

The invention discloses an umbrella rib type underwater vehicle depth and posture adjusting device which comprises a buoyancy adjusting system A, an information acquisition and control system B and abattery pack. The buoyancy adjusting system A comprises a head end adjusting subsystem and a tail end adjusting subsystem; the head end adjusting subsystem and the tail end adjusting subsystem comprise main shaft stepping motors, main gears and six groups of buoyancy adjusting units; each buoyancy adjusting unit comprises a buoyancy adjusting cabin, a push rod, a conversion cylinder, a relay shaftlimiter, a coupling type electromagnetic clutch, a branch gear and a transition gear; the information acquisition and control system B comprises a depth meter, a temperature-salinity-depth meter, aninertia measuring instrument, a displacement sensor, a processor and a control assembly. The control method comprises the steps that the underwater vehicle dives; the underwater vehicle floats upwards; and the heeling posture of the underwater vehicle is adjusted. The buoyancy state is adjusted by changing the drainage volume, the longitudinal and transverse inclination postures of the underwatervehicle are adjusted by changing the position of the buoyancy center, and the device and method are suitable for large-range depth adjustment and high-precision buoyancy compensation of the underwatervehicle.

Description

technical field [0001] The present invention relates to the motion field of underwater vehicles, and more specifically, relates to a depth and attitude adjustment device and a control method for an umbrella-shaped underwater vehicle. Background technique [0002] The application of underwater submersibles in the fields of marine resource detection, underwater environment monitoring, and life-saving and salvage is becoming more and more extensive, and has become a research hotspot in countries all over the world. When performing underwater tasks, it is necessary to change its own diving depth from time to time, and when the operating water depth changes greatly, the salinity, temperature and other environmental parameters of the seawater will change, which will cause changes in the density of seawater and the floating weight of the submersible. balance. In addition, due to the interference of the changing fluid environment in the ocean and the requirements of the tasks perfo...

AI Technical Summary

Problems solved by technology

[0003] Traditional powered submersible and floating devices, such as channel propellers, consume relatively large power; non-powered devices, such as high-pressure oil pump type, piston type and other buoyancy adjustment devices, have a small adjustment range, or are suitable for buoyancy compensation or depth adjustment The speed is slow, but none of them have the function of attitude adjustment

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