CN105857554A - Underwater vehicle buoyancy measuring method - Google Patents
Underwater vehicle buoyancy measuring method Download PDFInfo
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- CN105857554A CN105857554A CN201610182404.6A CN201610182404A CN105857554A CN 105857554 A CN105857554 A CN 105857554A CN 201610182404 A CN201610182404 A CN 201610182404A CN 105857554 A CN105857554 A CN 105857554A
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- oil
- buoyancy
- oil sac
- sac
- aircraft
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The invention discloses an underwater vehicle buoyancy measuring method. According to the method, the air pressure variation in a sealed cabin is measured through a temperature-pressure sensor, and therefore the volume of oil sucked and discharged by inner and outer oil bags is measured; and after calculation, the variation of buoyancy is obtained. Hardware needed by the measuring method is simple, cost is low, measuring accuracy is high, the measuring speed is high, and the magnitude of buoyancy of an underwater vehicle can be precisely adjusted through the method. The method for accurately measuring the size change of the inner and outer oil bags of the vehicle is provided for the underwater vehicle which adopts the inner and outer oil bags to adjust the buoyancy, and therefore the variation of buoyancy of the underwater vehicle can be indirectly measured. The hardware needed by the measuring method is simple, cost is low, measuring accuracy is high, the measuring speed is high, and the magnitude of buoyancy of the underwater vehicle can be precisely adjusted through the method.
Description
Technical field
The present invention relates to a kind of submarine navigation device buoyancy measuring method.
Background technology
Submarine navigation device is a kind of underwater platform relying on the self-contained energy independently to navigate by water, and can complete deep
Sea seabed resources and the various detection missions of the energy, have important value.
Current is to utilize the plunging motion of aircraft than the mode of more efficient with practicality, dexterously by gravity with floating
Power is converted into the driving force of advance, provides only a small amount of energy and can realize long sequential and great depth operation.By
After trim, the gravity of aircraft no longer changes, so underwater kinestate is to be come by the change of buoyancy
Realize, the most accurately and timely measure the buoyancy change of submarine navigation device, just can efficiently control and navigate under water
The kinestate of row device.
For the submarine navigation device of oil sac regulation buoyancy inside and outside using, by controlling what inside and outside oil sac alternately filled
Mode reaches to control the purpose that aircraft rises and falls in water.The change of buoyancy is the volume by inside and outside oil sac
The displacement that change is caused determines, the change in volume measuring inside and outside oil sac the most precisely, rapidly is to survey
The key of amount buoyancy change.
The inventive method changes mainly by the pressure of gas, is because air pressure change obvious, pace of change
Hurry up, measure simple, active force produced by draught head (pressure) is big.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of submarine navigation device buoyancy measuring method.
In order to solve above-mentioned technical problem, the technical solution used in the present invention is, a kind of submarine navigation device buoyancy
Measuring method, the buoyancy regulating device of submarine navigation device, including vehicle hull, oil pump, pump motor, electricity
Magnet valve, oil circuit, interior oil sac and outer oil sac；Interior oil sac is contained in aircraft seal casinghousing, equipped with extraction on shell
The valve of vacuum, also has temperature/pressure sensor in shell, outer oil sac is installed and is exposed to the outside of vehicle hull；
Oil pump is connected with interior oil sac and outer oil sac respectively by oil circuit, and pump motor drives oil pump the oil storage of interior oil sac to be taken out
To outer oil sac；It is additionally provided with from outer oil sac to interior oil sac and is controlled the logical unidirectional oil circuit closed by Unidirectional solenoid valve；Under water
The buoyancy measuring method of aircraft comprises the following steps:
(1) by extracting vacuum, the air pressure in aircraft seal casinghousing is set as 0.6 normal atmosphere,
The most so-called negative pressure；When the communications status started most, inside and outside oil sac is respectively arranged with the oil mass of half；Open oil return
Electromagnetic valve on road, the oil in outer oil sac flows back to interior oil sac under the effect of external seawater pressure automatically, it is achieved
The reduction of displacement of volume, makes submarine navigation device buoyancy reduce, and when buoyancy is less than its gravity, aircraft is sunk；
In this process, the volume of interior oil sac becomes big, and the air pressure in sealed compartment increases, and is surveyed by temperature/pressure sensor
Amount atmospheric pressure value go forward side by side trip temperature compensate；Atmospheric pressure value measured before and after being changed by interior oil sac oil mass obtains air pressure
Knots modification, by being calculated the volume change of gas in cabin, i.e. in the change in volume of oil sac；Due to outward
The corresponding change equal to interior oil sac volume of change of oil sac volume, so available aircraft overall buoyancy change
Situation；
(2) pump motor is by driving oil pump that the oil of interior oil sac is got to outer oil sac, and ensures with Unidirectional solenoid valve
Oil will not reflux, and is contained in outside the casing of aircraft due to outer oil sac and is exposed in sea water, and outer oil sac is oil-filled
The increase of amount, increases displacement of volume so that the buoyancy of aircraft increases, the navigation when buoyancy is more than gravity
Device begins to ramp up；In this process, the measuring and calculating principle of buoyancy is identical with sinking watching；
(3) aircraft detects the variable quantity of oil sac volume by the air pressure change amount that temperature/pressure sensor records,
Thus calculate the change of natural buoyancy, control self net buoyancy with this；Thus aircraft complete rising with under
The motor process of fall, and can be in the hope of the knots modification of buoyancy.
As preferably, the pressure measurement signal exported by temperature/pressure sensor is carried out Real-time Feedback submarine navigation device and floats
The regulated value of power.
As preferably, oil pump is plunger displacement pump.
The invention has the beneficial effects as follows:
By using temperature/pressure sensor to measure the air pressure knots modification in sealed compartment, thus measure inside and outside oil sac
The volume of suction fluid.The knots modification of buoyancy is obtained after calculating.Hardware letter needed for this measuring method
Single, low cost, but measuring accuracy is high, and measuring speed is fast, can accurately be regulated by the method and navigate under water
The buoyancy size of row device.
Accompanying drawing explanation
The present invention is further detailed explanation with detailed description of the invention below in conjunction with the accompanying drawings.
Fig. 1 is the buoyancy regulating device structural representation of the submarine navigation device of the embodiment of the present invention.
Fig. 2 is the air pressure knots modification matching with suction fluid volume of the submarine navigation device of the embodiment of the present invention
Curve.
Detailed description of the invention
Fig. 1 is the buoyancy regulating device of a kind of submarine navigation device, by aircraft seal casinghousing, oil pump, pump electricity
Mechanical, electrical magnet valve, oil circuit, interior oil sac and outer oil sac composition.Interior oil sac is contained in aircraft seal casinghousing, shell
On equipped with also having temperature/pressure sensor in the valve of extracting vacuum, shell, outer oil sac is installed and is exposed to aircraft shell
The outside of body；Oil pump is connected with interior oil sac and outer oil sac respectively by oil circuit, and pump motor drives oil pump by interior oil
The oil storage of capsule is extracted into outer oil sac, and oil pump uses plunger displacement pump.It is additionally provided with one by unidirectional from outer oil sac to interior oil sac
Electromagnetic valve controls the logical unidirectional oil circuit closed.
Equipped with the buoyancy measuring method of the submarine navigation device of above-mentioned buoyancy regulating device, comprise the following steps:
1, by extracting vacuum, the air pressure in aircraft seal casinghousing is set as 0.6 normal atmosphere, i.e.
So-called negative pressure.When the communications status started most, inside and outside oil sac is respectively arranged with the oil mass of half.Open oil return line
On electromagnetic valve, the oil in outer oil sac flows back to interior oil sac under the effect of external seawater pressure automatically, it is achieved row
The reduction of water volume, makes submarine navigation device buoyancy reduce, and when buoyancy is less than its gravity, aircraft is sunk.?
During this, the volume of interior oil sac becomes big, and the air pressure in sealed compartment increases, by temperature and pressure integrated sensing
Device measure atmospheric pressure value go forward side by side trip temperature compensate.Atmospheric pressure value measured before and after being changed by interior oil sac oil mass is obtained
Air pressure knots modification, by being calculated the volume change of gas in cabin, i.e. in the change in volume of oil sac.By
The corresponding change equal to interior oil sac volume of change in outer oil sac volume, so available aircraft overall buoyancy
Situation of change.
2, pump motor is by driving plunger displacement pump that the oil of interior oil sac is got to outer oil sac, and ensures with Unidirectional solenoid valve
Oil will not reflux, and is contained in outside the casing of aircraft due to outer oil sac and is exposed in sea water, and outer oil sac is oil-filled
The increase of amount, increases displacement of volume so that the buoyancy of aircraft increases, the navigation when buoyancy is more than gravity
Device begins to ramp up.In this process, the measuring and calculating principle of buoyancy is identical with sinking watching.
3, aircraft detects the change of oil sac volume by the air pressure change amount that temperature and pressure integrated transducer records
Amount, thus calculate the change of natural buoyancy, control self net buoyancy with this.Thus aircraft completes rising
With the motor process declined, and can be in the hope of the knots modification of buoyancy.
4, the pressure measurement signal exported by temperature and pressure integrated transducer carrys out Real-time Feedback submarine navigation device buoyancy
Regulated value.
The present embodiment changes mainly by the pressure of gas, is because air pressure change obvious, and pace of change is fast,
Measuring simple, active force produced by draught head (pressure) is big.
The submarine navigation device buoyancy measuring method of the present embodiment is by using temperature/pressure sensor to measure sealing
Air pressure knots modification in cabin, thus measure the volume of inside and outside oil sac suction fluid.Obtain after calculating
The knots modification of buoyancy.Hardware needed for this measuring method is simple, low cost, but measuring accuracy is high, measures
Speed is fast, can accurately be regulated the buoyancy size of submarine navigation device by the method.
The technical characterstic of the present embodiment is as follows:
1, this buoyancy regulating system can accurately control the size of buoyancy, is not affected by submarine navigation device attitude,
So that submarine navigation device accurately can navigate by water according to desired trajectory.
2, temperature-compensating:
Measuring air pressure with temperature/pressure sensor when, carry out temperature-compensating, make the atmospheric pressure value recorded more accurate.
This is the indemnifying measure that this sensor carries.The temperature/pressure sensor selected wants little (the air pressure model to be measured of range
Enclose is 0～1.5bar), precision is high, with temperature-compensating.
3, buoyancy measuring and calculating principle
According to equation of gas state PV=nRT, (wherein P is pressure, and V is volume, and n is the amount of material, R
For universal gas constant, T is absolute temperature), obtain V=nRT/P.When aircraft floats, pass through oil pump
Oil in interior oil sac is got in outer oil sac.In this process, before and after utilizing temperature/pressure sensor to record
Temperature in twice sealed compartment and air pressure, it is assumed that during beginning, temperature and air pressure are T1 and P1, at the end of temperature with
Air pressure is T2 and P2, then utilize formula V=nRT/P can obtain the gas volume in twice sealed compartment of before and after
V1=nRT1/P1, V2=nRT2/P2.So during buoyancy adjustment, the gas volume in sealed compartment changes
Variable is V2-V1, this namely in the stereomutation amount of oil sac.Owing to the change of outer oil sac volume is corresponding etc.
In the change of interior oil sac volume, so V2-V1 is exactly the stereomutation amount of outer oil sac.Utilize buoyancy formula
F=ρ gV ' (wherein F is buoyancy, and ρ is the density i.e. density of sea water of liquid, and g is acceleration of gravity,
V ' i.e. arranges the volume of sea water for the volume arranging liquid), wherein V '=V2-V1, just can get changing of buoyancy
Variable.So, during aircraft floats, it is possible to utilize temperature/pressure sensor indirectly to measure buoyancy
Knots modification.When aircraft dive, measuring and calculating principle is identical.
4, air pressure knots modification and the relation of suction fluid volume
(1) experiment purpose: test oil mass and the relation of air pressure
(2) experimental technique: the oil mass discharged by oil sac in graduated cylinder test, corresponding record sealed compartment internal gas pressure
Value
(3) experimental procedure:
1) poured into the oil of determined volume to oil sac by oil filling device；
2) oil filling device is accessed oil circuit threeway and check valve is opened by oil sac oil and gas be completely drawn out；
3) the inside oil sac of gravity is utilized to fill oil oil filling device suspension；
4) general extremely block three, and connect check valve after oil sac is filled, start test；
5) oil sac oil extraction 0.1L, 0.2L in detecting respectively ... when 1.1L, 1.2L, gas in corresponding sealed compartment
Pressure value, and record；
6) repeat above step and carry out many experiments, finally average.
(4) description of test:
Oil density: 0.812kg/L
Oil sac volume: 1.2L
Pressure transducer certainty of measurement: gamut 0.01%, i.e. 0.001bar
Pressure transducer errors :-0.003～0.004bar
Graduated cylinder precision: 10ml
(5) experimental result:
Experimental data is shown in Table 1
Table 1
| Outer oil sac amount/L | 0 | 0.1 | 0.2 | 0.3 | 0.4 | 0.5 | 0.6 |
| Atmospheric pressure value/bar | 1.3294 | 1.2795 | 1.2184 | 1.1389 | 1.0286 | 0.8673 | 0.7527 |
| Outer oil sac amount/L | 0.7 | 0.8 | 0.9 | 1.0 | 1.1 | 1.2 | |
| Atmospheric pressure value/bar | 0.6618 | 0.5929 | 0.5365 | 0.4912 | 0.4522 | 0.4221 |
According to table 1 data, utilize matlab to carry out data matching, obtain matched curve as shown in Figure 2.
Fit equation is
Y=-3.141x3+8.717x2-8.707x+3.551
Oil mass (unit L) during wherein y represents outer oil sac, x represents the air pressure (unit bar) in sealed compartment,
I.e. obtain the relation of air pressure knots modification and suction fluid volume.
Invention described above embodiment, is not intended that limiting the scope of the present invention.Any
Amendment, equivalent and the improvement etc. made within the spirit and principles in the present invention, should be included in the present invention
Claims within.
Claims (3)
1. a submarine navigation device buoyancy measuring method, the buoyancy regulating device of described submarine navigation device, including
Aircraft seal casinghousing, oil pump, pump motor, electromagnetic valve, oil circuit, interior oil sac and outer oil sac；Interior oil sac fills
In aircraft seal casinghousing, equipped with the valve of extracting vacuum on shell, in shell, also has temperature/pressure sensor, outer oil
Capsule is installed and is exposed to the outside of aircraft seal casinghousing；Oil pump by oil circuit respectively with interior oil sac and outer oil sac
Connecting, pump motor drives oil pump that the oil storage of interior oil sac is extracted into outer oil sac；It is additionally provided with to interior oil sac from outer oil sac
The logical unidirectional oil circuit closed is controlled by Unidirectional solenoid valve；It is characterized in that:
Described submarine navigation device buoyancy measuring method comprises the following steps:
(1) by extracting vacuum, the air pressure in aircraft seal casinghousing is set as 0.6 normal atmosphere,
The most so-called negative pressure；When the communications status started most, inside and outside oil sac is respectively arranged with the oil mass of half；Open oil return
Electromagnetic valve on road, the oil in outer oil sac flows back to interior oil sac under the effect of external seawater pressure automatically, it is achieved
The reduction of displacement of volume, makes submarine navigation device buoyancy reduce, and when buoyancy is less than its gravity, aircraft is sunk；
In this process, the volume of interior oil sac becomes big, and the air pressure in sealed compartment increases, and is surveyed by temperature/pressure sensor
Amount atmospheric pressure value go forward side by side trip temperature compensate；Atmospheric pressure value measured before and after being changed by interior oil sac oil mass obtains air pressure
Knots modification, by being calculated the volume change of gas in cabin, i.e. in the change in volume of oil sac；Due to outward
The corresponding change equal to interior oil sac volume of change of oil sac volume, so available aircraft overall buoyancy change
Situation；
(2) pump motor is by driving oil pump that the oil of interior oil sac is got to outer oil sac, and ensures with Unidirectional solenoid valve
Oil will not reflux, and is contained in outside the casing of aircraft due to outer oil sac and is exposed in sea water, and outer oil sac is oil-filled
The increase of amount, increases displacement of volume so that the buoyancy of aircraft increases, the navigation when buoyancy is more than gravity
Device begins to ramp up；In this process, the measuring and calculating principle of buoyancy is identical with sinking watching；
(3) aircraft detects the variable quantity of oil sac volume by the air pressure change amount that temperature/pressure sensor records,
Thus calculate the change of natural buoyancy, control self net buoyancy with this；Thus aircraft complete rising with under
The motor process of fall, and can be in the hope of the knots modification of buoyancy.
Submarine navigation device buoyancy measuring method the most according to claim 1, it is characterised in that: pass through
The pressure measurement signal of described temperature/pressure sensor output carrys out the regulated value of Real-time Feedback submarine navigation device buoyancy.
Submarine navigation device buoyancy measuring method the most according to claim 1, it is characterised in that: described
Oil pump is plunger displacement pump.
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| CN201610182404.6A CN105857554A (en) | 2016-03-25 | 2016-03-25 | Underwater vehicle buoyancy measuring method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107544526A (en) * | 2017-08-07 | 2018-01-05 | 熊学军 | Oil sac formula underwater glider floatage accuracy control method |
| CN108016589A (en) * | 2017-11-21 | 2018-05-11 | 中国舰船研究设计中心 | A kind of underwater robot Aeroassisted pumping oil formula buoyancy regulating device |
| CN109000838A (en) * | 2018-05-25 | 2018-12-14 | 哈尔滨工程大学 | A kind of buoyancy measurement method suitable for complete extra large depth AUV |
| CN110553866A (en) * | 2019-08-26 | 2019-12-10 | 华中科技大学 | Full-sea-depth working condition simulation test system of seawater hydraulic adjustable ballast device |
| CN112572739A (en) * | 2020-12-16 | 2021-03-30 | 中国航天空气动力技术研究院 | Buoyancy adjusting device |
| CN112591061A (en) * | 2020-12-16 | 2021-04-02 | 中国航天空气动力技术研究院 | Inner oil tank for buoyancy adjusting device and oil quantity change measuring method |
| CN116477026A (en) * | 2023-04-04 | 2023-07-25 | 中国科学院力学研究所 | Water surface underwater manned aircraft |
| CN117465642A (en) * | 2023-11-13 | 2024-01-30 | 博雅工道（北京）机器人科技有限公司 | Buoyancy adjusting device and underwater vehicle |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107544526A (en) * | 2017-08-07 | 2018-01-05 | 熊学军 | Oil sac formula underwater glider floatage accuracy control method |
| CN108016589A (en) * | 2017-11-21 | 2018-05-11 | 中国舰船研究设计中心 | A kind of underwater robot Aeroassisted pumping oil formula buoyancy regulating device |
| CN109000838A (en) * | 2018-05-25 | 2018-12-14 | 哈尔滨工程大学 | A kind of buoyancy measurement method suitable for complete extra large depth AUV |
| CN110553866A (en) * | 2019-08-26 | 2019-12-10 | 华中科技大学 | Full-sea-depth working condition simulation test system of seawater hydraulic adjustable ballast device |
| CN110553866B (en) * | 2019-08-26 | 2020-10-30 | 华中科技大学 | Full-sea-depth working condition simulation test system of seawater hydraulic adjustable ballast device |
| CN112572739A (en) * | 2020-12-16 | 2021-03-30 | 中国航天空气动力技术研究院 | Buoyancy adjusting device |
| CN112591061A (en) * | 2020-12-16 | 2021-04-02 | 中国航天空气动力技术研究院 | Inner oil tank for buoyancy adjusting device and oil quantity change measuring method |
| CN116477026A (en) * | 2023-04-04 | 2023-07-25 | 中国科学院力学研究所 | Water surface underwater manned aircraft |
| CN117465642A (en) * | 2023-11-13 | 2024-01-30 | 博雅工道（北京）机器人科技有限公司 | Buoyancy adjusting device and underwater vehicle |
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Application publication date: 20160817 |