CN110803270A - AUV buoyancy adjusting device and control method - Google Patents

AUV buoyancy adjusting device and control method Download PDF

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Publication number
CN110803270A
CN110803270A CN201911152439.5A CN201911152439A CN110803270A CN 110803270 A CN110803270 A CN 110803270A CN 201911152439 A CN201911152439 A CN 201911152439A CN 110803270 A CN110803270 A CN 110803270A
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auv
oil
oil tank
pressure
resistant
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CN110803270B (en
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管凤旭
丛浩东
张宏瀚
张伟
严浙平
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Harbin Engineering University
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Harbin Engineering University
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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
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • 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
    • B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
    • 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
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses an AUV buoyancy adjusting device and a control method, which mainly comprise a bow pressure-resistant oil tank (8), a storage battery (2), a depth meter (3), a controller (4), a radio station (5), a Beidou satellite positioning system (6), an inertial navigation system (7), a stern pressure-resistant oil tank (1), an oil bag (9), a combined antenna (10) and the like. The method realizes the rapid floating and submerging of the AUV by effectively adjusting the volume of the oil sac of the AUV and the attitude of the AUV during floating and submerging based on the known water depth and underwater environment. The unpowered vertical floating and submerging structure has the advantages that the flow area of the vertical surface is reduced during floating and submerging, so that the vertical resistance is reduced, the AUV can float and submerge more quickly and the energy consumption is reduced under the condition of certain buoyancy, and finally the purpose of prolonging the underwater working time of the AUV is achieved.

Description

AUV buoyancy adjusting device and control method
Technical Field
The invention relates to a buoyancy adjusting device for AUV (autonomous Underwater vehicle) rapid floating and submerging movement and a control method, belonging to the field of AUV control.
Background
In recent years, Autonomous Underwater Vehicles (AUVs) have been hot spots of research work in various countries in the world, and have been widely used in the fields of marine science research, marine resource investigation, salvage and lifesaving, and the like. Under continuous efforts, deep-sea AUV in China makes important breakthrough in technology, develops multiple large-scale applications, and plays an irreplaceable role in various fields. However, when the AUV executes a task, the executed task may not be completed at one time due to the influence of limited energy carrying capacity, high difficulty in exploring unknown environment, even machine failure and other factors, so the AUV needs to perform a plurality of dive tasks to a certain fixed sea area.
Currently known AUV diving methods generally employ a non-pitching unpowered diving method, such as the non-pitching unpowered diving method and a pitch suppression device disclosed in patent No. 201810771539.5, which are suitable for full-sea-depth AUVs. When the mode is used for executing a plurality of tasks, the working time of the system is wasted due to the overlong floating and submerging time, and meanwhile, the energy carried by the AUV is wasted. Therefore, a new buoyancy adjusting device structure and an AUV structure form need to be designed, and rapid floating and submerging can be realized, so that the time required by floating and submerging is greatly shortened, the energy consumption is reduced, and the purpose of prolonging the underwater working time of the AUV is finally realized. The invention designs a structure capable of unpowered vertical floating and submerging based on the structure. The structure has the advantages that the upstream area of the vertical surface is reduced during floating and submerging, and then the vertical resistance is reduced. Under the condition of certain buoyancy, the floating and the submerging can be realized more quickly, the energy consumption is reduced, and the underwater working time of the AUV is prolonged.
Disclosure of Invention
Aiming at the prior art, the invention aims to provide the AUV buoyancy adjusting device and the AUV buoyancy adjusting control method, which can effectively reduce the flow area of a vertical plane when the AUV is floated upwards and submerged downwards, and further reduce vertical resistance to realize unpowered rapid floating and submerging.
In order to solve the technical problem, the AUV buoyancy adjusting device is characterized in that: the device is arranged in an open structure AUV and comprises a stern pressure-resistant oil tank 1, a storage battery 2, a depth meter 3, a controller 4, a radio station 5, a Beidou satellite positioning system 6, an inertial navigation system 7, a bow pressure-resistant oil tank 8, an oil bag 9 and a combined antenna 10; the combined antenna 10 comprises a radio antenna and a Beidou receiving antenna; the buoyancy regulating system A comprises a bow pressure-resistant oil tank 8, a stern pressure-resistant oil tank 1, an oil bag 9, an oil pump P, a motor and a valve assembly, wherein the valve assembly comprises a first valve F1 to a sixth valve F6;
the bow pressure-resistant oil tank 8 and the stern pressure-resistant oil tank 1 are arranged on a longitudinal central axis of the AUV, the bow pressure-resistant oil tank 8 is positioned in a bow cabin, and the stern pressure-resistant oil tank 1 is positioned in a stern cabin; the oil bag 9 is arranged at the connecting line intersection of the transverse central axis of the AUV and the bow and stern pressure-resistant oil tanks; the oil in the oil bag 9 is pumped into the stern pressure-resistant oil tank 1 through a valve II F2, an oil pump P and a valve III F3, and the oil valve II F2, the oil pump P and a valve III F6 in the oil bag 9 are pumped into the bow pressure-resistant oil tank 8; oil in the stern pressure-resistant oil tank 1 is pumped into the oil bag 9 through a valve IV F4, an oil pump P and a valve I F1, and oil in the bow pressure-resistant oil tank 8 is pumped into the oil bag 9 through a valve V F5, the oil pump P and a valve I F1; oil in the bow pressure-resistant oil tank 8 is pumped into the stern pressure-resistant oil tank 1 through a valve five F5, an oil pump P and a valve three F3, and oil in the stern pressure-resistant oil tank 1 is pumped into the bow pressure-resistant oil tank 8 through a valve four F4, the oil pump P and a valve six F6;
when the AUV is on the water surface, the radio antenna receives a target position signal transmitted by the remote control center and transmits the target position signal to the radio station 5, and the radio station 5 processes the target position signal to obtain target position information and transmits the target position information to the controller 4, wherein the target position information comprises the longitude, the latitude and the target depth of the diving target; the Beidou receiving antenna acquires a position signal and transmits the position signal to the Beidou satellite positioning system 6, and the Beidou satellite positioning system 6 processes the position signal to obtain position information and transmits the position information to the controller 4 and the inertial navigation system 7; when the AUV is below the water surface, the inertial navigation system 7 transmits attitude information, speed information and position information to the controller 4; the depth meter 3 detects the depth of the AUV in the submarine navigation in real time and transmits the depth to the controller 4; the basic value of the oil mass in the oil bag 9, the fore pressure-resistant oil tank 8 and the stern pressure-resistant oil tank 1 and the flow value of each valve detected by the flow meter are transmitted to the controller 4, the controller 4 controls the oil motion direction and the oil motion speed between the fore pressure-resistant oil tank 8 and the oil bag 9, between the stern pressure-resistant oil tank 1 and the oil bag 9 and between the fore pressure-resistant oil tank 8 and the stern pressure-resistant oil tank 1 according to the received information, the AUV autonomously navigates to a specified submergence position through the Beidou satellite positioning system 6 or the inertial navigation system 7, and the storage battery 2 supplies power for the device.
The control method of the AUV buoyancy regulating device comprises the following steps:
the method comprises the following steps: the radio antenna receives a target position signal transmitted by the remote control center and transmits the target position signal to the radio station 5, the radio station 5 processes the target position signal to obtain target position information and transmits the target position information to the controller 4, and the target position information comprises longitude, latitude and target depth of a target diving position; the AUV autonomously navigates to a target submergence position through a Beidou satellite positioning system 6 or an inertial navigation system 7, and the combined antenna 10 is retracted into the cabin;
step two: the depth meter 3 detects the depth of the AUV in the seabed navigation in real time and transmits the depth to the controller 4, the inertial navigation system 7 transmits attitude information, speed information and position information to the controller 4, the base value of the oil quantity in the oil bag 9, the bow pressure-resistant oil tank 8 and the stern pressure-resistant oil tank 1 and the flow value of each valve detected by the flow meter 3 are transmitted to the controller 4, the controller 4 calculates the control quantity of the current depth and attitude according to the received information, and then adjusts the oil suction or oil filling rate of an oil pump P and the oil flow direction among the oil bag 9, the bow pressure-resistant oil tank 8 and the stern pressure-resistant oil tank 1, so as to realize the adjustment of the trim attitude and the buoyancy, specifically:
step 2.1: when the aircraft starts to dive, the controller 4 controls the oil pump P to completely fill oil in the oil bag 9 into the bow pressure-resistant oil tank 8, and simultaneously completely fill oil in the stern pressure-resistant oil tank 1 into the bow pressure-resistant oil tank 8, so that the buoyancy borne by the AUV is reduced, the diving posture of the AUV is adjusted to be changed from a horizontal state to a vertical state, and the diving speed of the aircraft is increased;
step 2.2: when the underwater vehicle dives to a position with a set distance from the target depth, the controller 4 pumps oil in the bow pressure-resistant oil tank 8 into the stern pressure-resistant oil tank 1 and the oil bag 9 to adjust the buoyancy and the posture of the AUV, so that the buoyancy borne by the controller is increased, the posture of the AUV is gradually changed into the horizontal state, and the diving speed of the AUV is reduced;
step 2.3: after the target depth is reached, the controller 4 continues to adjust the buoyancy and the posture of the AUV, and when the longitudinal inclination angle of the AUV is 0 and the buoyancy and the gravity of the AUV reach a balanced state, the oil pump P stops working.
Step 2.4: when the floating starts, the controller 4 controls oil in the fore pressure-resistant oil tank 8 to be pumped into the stern pressure-resistant oil tank 1, the AUV is adjusted to be in a vertical posture, and the rest oil is pumped into the oil bag 9, so that the buoyancy force borne by the AUV is increased, and the floating speed of the AUV is accelerated;
step 2.5: when the AUV reaches a set distance position from the water surface, the controller 4 controls oil in the stern pressure-resistant oil tank 1 to be pumped into the bow pressure-resistant oil tank 8, oil in the oil bag 9 is pumped into the bow pressure-resistant oil tank 8, the attitude of the AUV is adjusted to be gradually horizontal, the buoyancy force borne by the AUV is gradually reduced, the floating speed is reduced, and the speed of the AUV reaching the water surface is controlled to be 0;
step 2.6: after the water surface is reached, the buoyancy and the posture of the AUV are adjusted by the controller 4, and when the longitudinal inclination angle of the AUV is 0 and the buoyancy and the gravity are balanced, the oil pump P stops working.
The invention has the beneficial effects that: the invention is used for carrying out a plurality of floating and submerging tasks in a certain sea area, and the aircraft can quickly float and submerge. The AUV is submerged to the target depth under the premise that the seawater depth and the underwater environment are known, and the buoyancy adjusting system is controlled through the controller, so that the buoyancy and the attitude of the aircraft are adjusted, and the buoyancy is minimized. The attitude of the aircraft is adjusted to be in a vertical state, and the upstream area and the resistance during submerging are reduced, so that the submerging time is greatly reduced; the floating attitude is also changed into a vertical state during floating, the upstream area and the resistance of floating are reduced, and the buoyancy of the AUV is increased, so that the aim of quickly floating is fulfilled. The invention has the advantages that under the condition of not adding other equipment, the fast and unpowered floating and submerging can be realized only by adjusting the oil bag, the fore pressure-resistant oil tank and the stern pressure-resistant oil tank in the buoyancy adjusting system, the energy consumption is reduced, and the underwater working time is prolonged.
Drawings
FIG. 1 is a schematic diagram of the buoyancy regulating device of the AUV of the present invention;
FIG. 2 is a buoyancy adjustment control block diagram of the present invention;
FIG. 3 is a schematic view of the buoyancy regulating system of the present invention;
FIG. 4 is a flow chart illustrating the operation of the method of controlling the AUV buoyancy regulating device of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention provides a buoyancy adjusting device for realizing rapid floating and submerging movement of an AUV (autonomous Underwater vehicle) and a control method. The device mainly comprises a bow pressure-resistant oil tank, a storage battery, a depth meter, a controller, a radio station, a Beidou satellite positioning system, an inertial navigation system, a stern pressure-resistant oil tank, an oil bag, a combined antenna and the like. The method realizes the rapid floating and submerging of the AUV by effectively adjusting the volume of the oil sac of the AUV and the attitude of the AUV during floating and submerging based on the known water depth and underwater environment. The unpowered vertical floating and submerging structure has the advantages that the flow area of the vertical surface is reduced during floating and submerging, so that the vertical resistance is reduced, the AUV can float and submerge more quickly and the energy consumption is reduced under the condition of certain buoyancy, and finally the purpose of prolonging the underwater working time of the AUV is achieved.
Referring to fig. 1, the buoyancy regulating device of the invention mainly comprises a depth meter 3, a storage battery 2, a combined wireless device 10, a buoyancy regulating system A and a comprehensive acquisition and control system B. The buoyancy regulating system A consists of a bow pressure-resistant oil tank 8, a stern pressure-resistant oil tank 1, an oil bag 9, a valve component, a motor and an oil pump P; the comprehensive acquisition and control system B consists of a controller 4, an inertial navigation system 7, a radio station 5 and a Beidou satellite positioning system 6; the combined antenna 10 consists of a radio antenna, a Beidou receiving antenna and a lifting mechanism, and the valve assembly comprises a valve I1 to a valve II F6.
Referring to fig. 2, the buoyancy adjustment control method for the fast submergence and floatation AUV of the invention mainly adopts an oil bag type buoyancy adjustment control system and adopts closed-loop control. Firstly, the depth meter 3 is used for feeding back the current depth information, the inertial navigation system 7 is used for feeding back the current trim angle of the aircraft, the obtained detection information and target parameters input by the system are sent to the controller 4, and the current depth error and trim angle deviation are calculated. Then the basic value of the oil quantity in the oil bag 9, the fore pressure-resistant oil tank 8 and the stern pressure-resistant oil tank 1 and the flow value of each valve detected by the flow meter are transmitted to the controller 4. The controller 4 obtains the control quantity of the current depth and the attitude by using a certain algorithm according to the received information, sends the control quantity to the buoyancy adjusting system A, and adjusts the oil suction or oil filling rate of an oil pump P among the oil bag, the bow pressure-resistant oil tank and the stern pressure-resistant oil tank, thereby realizing the accurate adjustment of the trim attitude and the buoyancy.
With reference to fig. 3 and 4, the working process of the AUV rapidly diving to the target depth in the present invention includes the following specific steps:
the method comprises the following steps: firstly, the depth of a working water area and underwater environment information are detected, the AUV can be used for submerging in a traditional mode, and other ways can be used for detecting.
Step two: the controller 4 of the AUV receives parameters such as the diving longitude and latitude position, the target depth and the like sent by the remote control center through the radio station 5 and the wireless antenna; the AUV autonomously navigates to a designated diving position through a Beidou satellite positioning system 6 or an inertial navigation system 7 and retracts the combined antenna into the cabin.
Step three: the controller 4 controls the oil pump P to completely fill the oil in the oil bag 9 into the bow pressure-resistant oil tank 8, and the specific flow is that the oil in the oil bag 9 enters the bow pressure-resistant oil tank 8 through the valve II F2, the oil pump P and the valve six F6; meanwhile, oil in the stern pressure-resistant oil tank 1 is completely filled into the bow pressure-resistant oil tank 8, and the specific flow is that the oil enters the bow pressure-resistant oil tank 8 through a valve IV F4, an oil pump P and a valve VI F6. The buoyancy force borne by the AUV is reduced, and the underwater posture of the AUV is adjusted to be changed from a horizontal state to a vertical state, so that the underwater speed of the aircraft is increased.
Step four: when the vehicle dives to the position 2 times the length of the carrier above the target height, the controller 4 controls the oil in the bow pressure-resistant oil tank 8 to be filled into the stern pressure-resistant oil tank 1 and the oil bag 9. Oil in the bow pressure-resistant oil tank 8 sequentially passes through a valve five F5, an oil pump P and a valve three F3 to enter the stern pressure-resistant oil tank 1; enters the oil bag 9 through a valve five F5, an oil pump P and a valve one F1, increases the buoyancy borne by the AUV, and adjusts the posture of the AUV to be gradually horizontal, thereby reducing the submergence speed of the AUV.
Step five: after the target depth is reached, the AUV residual buoyancy identification algorithm is used for identification, the buoyancy and posture adjustment of the AUV is completed through the buoyancy adjusting system A, and when the longitudinal inclination angle of the AUV is 0 and the buoyancy and the gravity of the AUV reach a balanced state, the oil pump P stops filling oil into the oil bag 9 or sucking oil. The AUV starts executing tasks.
Step six: after the AUV executes the task, the AUV starts to float upwards without power, oil in the fore pressure-resistant oil tank 8 enters the oil bag 9 through a valve five F5, the oil pump P and a valve one F1, and enters the stern pressure-resistant oil tank 1 through a valve five F5, the oil pump P and a valve three F3. On the basis of ensuring that the AUV is in a vertical posture, oil is injected into the oil bag more, so that the buoyancy force borne by the AUV is increased as much as possible, and the floating speed of the AUV is accelerated.
Step seven: when the AUV reaches 2 times of the carrier length from the water surface, oil in a stern pressure-resistant oil tank 1 is injected into a bow pressure-resistant oil tank through a valve four F4, an oil pump P and a valve six F6, oil in an oil bag is injected into a bow pressure-resistant oil tank 8 through a valve two F2, the oil pump P and a valve six F6, the attitude of the AUV is adjusted to be gradually horizontal, the buoyancy borne by the AUV is gradually increased, the floating speed is reduced, and the speed of the AUV reaching the water surface is controlled to be 0.
Step eight: and after the water surface is reached, the buoyancy and the attitude of the AUV are adjusted by using the buoyancy adjusting system. And when the AUV pitch angle is 0 and the buoyancy and gravity of the aircraft reach a balanced state, the oil pump P stops working. The AUV automatically stretches out the combined antenna and autonomously navigates to a recovery place to wait for recovery.
The specific implementation mode of the invention also comprises:
the invention designs a buoyancy adjusting device capable of realizing unpowered rapid floating and submerging based on the known seabed depth and underwater environment, and also provides a buoyancy adjusting control method for the rapid floating and submerging AUV.
The integral hull of the aircraft adopts an open system structure, seawater can enter the hull, and the buoyancy value of an oil sac in the hull can be changed by changing the volume; all devices in the shell adopt a modular structure design, the outside of each module is sealed by an anti-corrosion and waterproof pressure-resistant shell, and information transmission is completed through a pressure-resistant waterproof cable. The buoyancy adjusting device mainly comprises a stern pressure-resistant oil tank 1, a storage battery 2, a depth meter 3, a controller 4, a radio station 5, a Beidou satellite positioning system 6, an inertial navigation system 7, a bow pressure-resistant oil tank 8, an oil bag 9, a combined antenna 10 and the like. As shown in fig. 1.
Some structural features of the invention:
1. the fore pressure-resistant oil tank 8, the stern pressure-resistant oil tank 1, the oil bag 9, the oil pump P, the motor and the valve assembly form a buoyancy adjusting system A. Wherein, the fore pressure-resistant oil tank 8 and the stern pressure-resistant oil tank 1 are arranged on the central axis of the AUV, the fore pressure-resistant oil tank 8 is positioned in the fore compartment, and the stern pressure-resistant oil tank 1 is positioned in the stern compartment. The oil bag 9 is arranged at the intersection of the central axis of the AUV carrier and the connecting central line of the bow and stern pressure-resistant oil tanks, is connected with the oil tank through an oil pipeline, a valve and an oil pump, and is used for adjusting the buoyancy and the longitudinal inclination angle of the AUV, so that the floating and submerging of the AUV and the posture adjustment are realized.
2. The combined antenna 10 consists of a radio antenna, a Beidou receiving antenna and a lifting mechanism. Before the AUV dives, the work task information transmitted from the remote control center is received through a radio antenna, converted into a current signal and transmitted to a radio station 5; the current position information is acquired through the Beidou receiving antenna and is transmitted to the Beidou satellite positioning system 6. The radio station 5 and the Beidou satellite positioning system 6 transmit information to the controller, so that the AUV is controlled to autonomously navigate to a submergence site. Before submergence, the combined antenna can be automatically retracted into the cabin under the action of a matched lifting mechanism, and when the depth is 0, the combined antenna can automatically extend out of the AUV cabin under the action of the matched lifting mechanism.
3. The controller 4, the inertial navigation system 7, the radio station 5 and the Beidou satellite positioning system 6 are arranged in a sealed cabin to form a comprehensive acquisition and control system B. And pressure-resistant waterproof cables are adopted among the comprehensive acquisition and control system B, the depth gauge 3, the storage battery 2 and the buoyancy regulating system A for communication and power supply, so that information transmission is realized. When the AUV is on the water surface, the position is determined through a Beidou satellite positioning system, and the position information is transmitted to an inertial navigation system; after diving, the inertial navigation system calculates the underwater state according to the change of the aircraft based on the information of the initial point, and outputs the position, the posture and other information of the AUV to the controller after comprehensive analysis. The depth meter is used for detecting the depth of the AUV in real time when the AUV navigates on the seabed and transmitting the depth information to the controller in time. The controller is a control center of AUV underwater operation, is used for issuing all operation instructions, and sends out control instructions to adjust the oil suction or oil filling rate of an oil pump among an oil bag, a fore pressure-resistant oil tank and a stern pressure-resistant oil tank in the system when receiving information of the depth meter, the inertial navigation system and the flow sensor.
4. The storage battery 2 adopts a voltage-resistant waterproof transmission cable to provide working power for all execution units, control units, communication units and various sensors in the AUV.
The invention discloses a buoyancy adjustment control method for realizing AUV quick floating and submerging, which comprises the following steps:
the method aims to realize the rapid submergence of the AUV, the first condition is that the depth of the sea area and the underwater environment condition are known, otherwise, the situation that the AUV is not known about the depth of the sea bottom or the underwater environment and the like in the rapid submergence process can be caused, the AUV is not decelerated in time when approaching the sea bottom, the descending speed is caused to impact the sea bottom too fast, and the AUV device is damaged.
After the detection of the depth and the underwater environment of the sea area is finished and before the AUV dives, the task information is received through the combined antenna on the water surface, and the Beidou satellite positioning system is used for autonomous navigation to the designated position. And after the AUV reaches the designated position, the combined antenna is retracted into the cabin, the oil pump is controlled by the controller to work, and the oil in the oil bag and the stern pressure-resistant oil tank is completely injected into the bow pressure-resistant oil tank. At this point, the volume of the oil pocket is minimal and the buoyancy experienced by the AUV is minimal. And because the oil in the stern pressure-resistant oil tank is gradually injected into the fore pressure-resistant oil tank, the gravity center of the AUV is gradually adjusted into a fore chamber of the device, the fore inclination angle of the AUV is gradually increased, and the posture of the AUV is gradually close to a vertical state. Namely, the state that the AUV is under the fore cabin and the stern cabin is above, and the change of the posture during submerging reduces the upstream area and the resistance, thereby realizing the unpowered rapid submerging of the AUV.
When the depth meter detects that the submergence depth reaches 2 times of the length of the carrier above the target depth, the buoyancy adjusting system is started, oil in the bow pressure resistant oil tank is pumped into the stern pressure resistant oil tank and the oil bag at the same time, the AUV posture is gradually adjusted to change into a horizontal state, and the upstream area and the resistance during submergence are increased; meanwhile, the buoyancy of the AUV is gradually increased due to the gradual increase of the volume of the oil bag, so that the submergence speed of the AUV reaching the target depth is controlled to be 0. When the target depth is reached, the residual buoyancy of the AUV is identified through an identification algorithm of the residual buoyancy of the AUV, and the buoyancy and attitude adjustment of the AUV is completed by using a buoyancy adjusting system. When the AUV longitudinal inclination angle is 0 and the buoyancy and gravity borne by the aircraft reach a balanced state, the oil pump stops oil filling or oil absorption among the oil bag, the fore pressure-resistant oil tank and the stern pressure-resistant oil tank.
When the AUV finishes executing the task and needs to float to the water surface, the process is similar to submergence. And oil in the fore pressure-resistant oil tank and the stern pressure-resistant oil tank is filled into the oil bag and the stern pressure-resistant oil tank through the controller, so that the attitude of the AUV is adjusted to be in a vertical state. Namely, the posture that the stern cabin is arranged below and the bow cabin is arranged above, the upstream area and the resistance in the rising process can be reduced. The distribution of the oil mass in the stern pressure-resistant oil tank and the oil bag is required to ensure that the oil mass in the oil bag is as much as possible on the basis of keeping the AUV in a vertical posture, so that the buoyancy force borne by the AUV is larger, and the AUV can realize unpowered rapid floating.
When the AUV reaches 2 times of the carrier length from the water surface, oil in the stern pressure-resistant oil tank and the oil bag is injected into the fore pressure-resistant oil tank. Gradually adjusting the AUV posture to a horizontal state, increasing the upstream area and resistance when floating, simultaneously reducing the volume of the oil bag, reducing the buoyancy of the AUV, and controlling the speed of the AUV when reaching the water surface to be 0. When the underwater vehicle reaches the water surface, the underwater vehicle is identified through the identification algorithm of the residual buoyancy of the AUV, and the buoyancy and posture adjustment of the AUV is completed by using the buoyancy adjusting system. When the AUV longitudinal inclination angle is 0 and the buoyancy and gravity borne by the aircraft reach a balanced state, the oil pump stops oil filling or oil absorption among the oil bag, the fore pressure-resistant oil tank and the stern pressure-resistant oil tank. And finally, automatically extending the combined antenna out of the cabin, receiving information, and automatically navigating to a recovery place.

Claims (2)

  1. An AUV buoyancy regulating device, characterized in that: the device is arranged in an open structure AUV and comprises a stern pressure-resistant oil tank (1), a storage battery (2), a depth meter (3), a controller (4), a radio station (5), a Beidou satellite positioning system (6), an inertial navigation system (7), a bow pressure-resistant oil tank (8), an oil bag (9) and a combined antenna (10); the combined antenna (10) comprises a radio antenna and a Beidou receiving antenna; the buoyancy regulating system (A) comprises a bow pressure-resistant oil tank (8), a stern pressure-resistant oil tank (1), an oil bag (9), an oil pump (P), a motor and a valve assembly, wherein the valve assembly comprises a first valve (F1) to a sixth valve (F6);
    the bow pressure-resistant oil tank (8) and the stern pressure-resistant oil tank (1) are arranged on a longitudinal central axis of the AUV, the bow pressure-resistant oil tank (8) is positioned in a bow cabin, and the stern pressure-resistant oil tank (1) is positioned in a stern cabin; the oil bag (9) is arranged at the connecting line intersection of the transverse central axis of the AUV and the fore and aft pressure-resistant oil tanks; oil in the oil bag (9) is pumped into a stern pressure-resistant oil tank (1) through a second valve (F2), an oil pump (P) and a third valve (F3), and an oil valve (F2), the oil pump (P) and a sixth valve (F6) in the oil bag (9) are pumped into a bow pressure-resistant oil tank (8); oil in the stern pressure-resistant oil tank (1) is pumped into the oil bag (9) through a valve IV (F4), an oil pump (P) and a valve I (F1), and oil in the bow pressure-resistant oil tank (8) is pumped into the oil bag (9) through a valve V (F5), the oil pump (P) and the valve I (F1); oil in the bow pressure-resistant oil tank (8) is pumped into the stern pressure-resistant oil tank (1) through a fifth valve (F5), an oil pump (P) and a third valve (F3), and oil in the stern pressure-resistant oil tank (1) is pumped into the bow pressure-resistant oil tank (8) through a fourth valve (F4), the oil pump (P) and a sixth valve (F6);
    when the AUV is on the water surface, the radio antenna receives a target position signal transmitted by the remote control center and transmits the target position signal to the radio station (5), and the radio station (5) processes the target position signal to obtain target position information and transmits the target position information to the controller (4), wherein the target position information comprises the longitude, the latitude and the target depth of the submerged target; the Beidou receiving antenna acquires a position signal and transmits the position signal to the Beidou satellite positioning system (6), and the Beidou satellite positioning system (6) processes the position signal to obtain position information and transmits the position information to the controller (4) and the inertial navigation system (7); when the AUV is below the water surface, the inertial navigation system (7) transmits attitude information, speed information and position information to the controller (4); the depth meter (3) detects the depth of the AUV in the submarine navigation in real time and transmits the depth to the controller (4); the basic value of the oil mass in the oil bag (9), the bow pressure-resistant oil tank (8), the stern pressure-resistant oil tank (1) and the flow value of each valve detected by the flow meter are transmitted to the controller (4), the controller (4) controls the oil motion direction and the speed between the bow pressure-resistant oil tank (8) and the oil bag (9), between the stern pressure-resistant oil tank (1) and the oil bag (9) and between the bow pressure-resistant oil tank (8) and the stern pressure-resistant oil tank (1) according to the received information, the AUV autonomously navigates to a specified submergence position through a Beidou satellite positioning system (6) or an inertial navigation system (7), and the storage battery (2) supplies power for the device.
  2. 2. A method for controlling a buoyancy adjustment device of an AUV according to claim 1, comprising the steps of:
    the method comprises the following steps: the wireless antenna receives a target position signal transmitted by the remote control center and transmits the target position signal to the wireless radio station (5), the wireless radio station (5) processes the target position signal to obtain target position information and transmits the target position information to the controller (4), and the target position information comprises longitude and latitude of a target diving position and target depth; the AUV autonomously navigates to a target submergence position through a Beidou satellite positioning system (6) or an inertial navigation system (7), and the combined antenna (10) is retracted into the cabin;
    step two: depth gauge (3) real-time detection AUV is at the degree of depth of seabed navigation time and transmit to controller (4), inertial navigation system (7) with attitude information, speed information and positional information transmission to controller (4), oil pocket (9), the withstand voltage oil tank of bow (8), the basic value of the oil mass in the withstand voltage oil tank of stern (1) and the flow value of each valve that flowmeter (3) detected convey to controller (4), controller (4) calculate the controlled variable that obtains current depth and gesture according to above-mentioned information that receives, and then adjust oil pocket (9), the withstand voltage oil tank of bow (8) and stern (1) between oil pump (P) oil absorption or the velocity and the fluid flow direction of oil charge, realize adjusting trim gesture and buoyancy, specifically do:
    step 2.1: when the underwater vehicle starts to dive, the controller (4) controls the oil pump (P) to completely fill oil in the oil bag (9) into the bow pressure-resistant oil tank (8), and simultaneously completely fill oil in the stern pressure-resistant oil tank (1) into the bow pressure-resistant oil tank (8), so that the buoyancy force borne by the AUV is reduced, the diving posture of the AUV is adjusted to be changed from a horizontal state to a vertical state, and the diving speed of the vehicle is increased;
    step 2.2: when the underwater vehicle dives to a position with a set distance from a target depth, the controller (4) pumps oil in the bow pressure-resistant oil tank (8) into the stern pressure-resistant oil tank (1) and the oil bag (9) to adjust the buoyancy and the posture of the AUV, so that the buoyancy borne by the AUV is increased, the posture of the AUV is gradually changed into the horizontal state, and the diving speed of the AUV is reduced;
    step 2.3: and after the target depth is reached, the controller (4) continues to adjust the buoyancy and the posture of the AUV, and when the longitudinal inclination angle of the AUV is 0 and the buoyancy and the gravity are balanced, the oil pump (P) stops working.
    Step 2.4: when the floating starts, the controller (4) controls oil in the fore pressure-resistant oil tank (8) to be pumped into the stern pressure-resistant oil tank (1), the AUV is adjusted to be in a vertical posture, and other oil is pumped into the oil bag (9), so that the buoyancy force borne by the AUV is increased, and the floating speed of the AUV is accelerated;
    step 2.5: when the AUV reaches a set distance position from the water surface, the controller (4) controls oil in a stern pressure-resistant oil tank (1) to be pumped into a bow pressure-resistant oil tank (8), oil in an oil bag (9) is pumped into the bow pressure-resistant oil tank (8), the posture of the AUV is adjusted to be gradually horizontal, the buoyancy force borne by the AUV is gradually reduced, the floating speed is reduced, and the speed of the AUV reaching the water surface is controlled to be 0;
    step 2.6: after the water surface is reached, the buoyancy and the posture of the AUV are adjusted by the controller (4), and when the longitudinal inclination angle of the AUV is 0 and the buoyancy and the gravity are balanced, the oil pump (P) stops working.
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CN111547212A (en) * 2020-06-02 2020-08-18 哈尔滨工程大学 Buoyancy control method for unpowered rapid submerged-floating AUV
CN111619772A (en) * 2020-06-11 2020-09-04 中国船舶科学研究中心 Sectional type buoyancy control device for underwater glider and control method thereof
CN113479309A (en) * 2021-07-22 2021-10-08 中国船舶科学研究中心 Manned submersible unpowered trim auxiliary restraining device and operation method
CN113682451A (en) * 2021-09-16 2021-11-23 哈尔滨工程大学 Retractable underwater robot wireless communication device and communication method thereof
CN113911304A (en) * 2021-11-15 2022-01-11 中国船舶科学研究中心 Navigation attitude conversion mechanism of underwater unmanned vehicle and operation method
CN114275128A (en) * 2021-12-28 2022-04-05 哈尔滨工程大学 Structure and method for assisting AUV bow bottom seating through special buoyancy equalizing device
CN114771786A (en) * 2022-05-11 2022-07-22 中国科学院沈阳自动化研究所 Unpowered deep-sea unmanned carrier

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CN111547212A (en) * 2020-06-02 2020-08-18 哈尔滨工程大学 Buoyancy control method for unpowered rapid submerged-floating AUV
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CN113911304B (en) * 2021-11-15 2022-09-13 中国船舶科学研究中心 Navigation attitude conversion mechanism of underwater unmanned vehicle and operation method
CN114275128A (en) * 2021-12-28 2022-04-05 哈尔滨工程大学 Structure and method for assisting AUV bow bottom seating through special buoyancy equalizing device
CN114275128B (en) * 2021-12-28 2023-01-03 哈尔滨工程大学 Structure and method for assisting AUV bow bottom seating through special buoyancy equalizing device
CN114771786A (en) * 2022-05-11 2022-07-22 中国科学院沈阳自动化研究所 Unpowered deep-sea unmanned carrier
CN114771786B (en) * 2022-05-11 2024-05-07 中国科学院沈阳自动化研究所 Unpowered deep sea unmanned carrier

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