CN111442871A - Method for measuring net buoyancy loss of underwater glider at different water depths - Google Patents
Method for measuring net buoyancy loss of underwater glider at different water depths Download PDFInfo
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- CN111442871A CN111442871A CN201910043561.2A CN201910043561A CN111442871A CN 111442871 A CN111442871 A CN 111442871A CN 201910043561 A CN201910043561 A CN 201910043561A CN 111442871 A CN111442871 A CN 111442871A
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- buoyancy
- underwater glider
- depth
- glider
- loss
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L7/00—Measuring the steady or quasi-steady pressure of a fluid or a fluent solid material by mechanical or fluid pressure-sensitive elements
- G01L7/02—Measuring the steady or quasi-steady pressure of a fluid or a fluent solid material by mechanical or fluid pressure-sensitive elements in the form of elastically-deformable gauges
- G01L7/022—Measuring the steady or quasi-steady pressure of a fluid or a fluent solid material by mechanical or fluid pressure-sensitive elements in the form of elastically-deformable gauges constructional details, e.g. mounting of elastically-deformable gauges
Abstract
A method for measuring net buoyancy loss of an underwater glider in different water depths is characterized in that the underwater glider is suspended at different depths, the buoyancy equal to gravity at the depth can be obtained through stress analysis, the gravity of the underwater glider and the buoyancy on the surface of seawater are weighed through a hook scale, and the net buoyancy loss at the depth can be obtained; the buoyancy of the glider on the water surface is changed through the buoyancy system of the underwater glider, so that the glider can hover at different depths, and the net buoyancy loss of the underwater glider at different depths can be calculated.
Description
Technical Field
The invention belongs to the field of ocean observation equipment, and particularly relates to a method for measuring the buoyancy of a submersible in different water depths, in particular to a method for measuring the net buoyancy loss of an underwater glider in different water depths.
Background
Huge treasures are stored in oceans, and in the development history of mankind for tens of thousands of years, mankind knows oceans more and more deeply, but most resources in oceans are not explored by mankind, and unknown lives and various resources of oceans are not explored and developed. In this context, submersible technology has developed rapidly; especially, because the underwater glider adopts a unique buoyancy driving mode to realize the motion function, compared with other underwater vehicles, the underwater glider has the advantages of low energy consumption, low noise, strong cruising ability and the like. The basic working principle is as follows: the device realizes the movement in the depth direction by changing the buoyancy of the device, changes the gravity center position of the glider to adjust the movement posture, and realizes the forward gliding movement by means of the hydrodynamic force generated by the horizontal wings at the two sides. The buoyancy of the underwater glider has a decisive effect on the cruising ability and the movement posture of the underwater glider, but the net buoyancy of the underwater glider is different when the underwater glider is at different depths, due to the fact that the pressure of the underwater glider is different at different depths, the compressed shell is different in volume, and the sea water density of the underwater glider is different at different depths, the net buoyancy of the underwater glider is different when the underwater glider is at different sea water depths, and therefore the method for measuring the net buoyancy loss of the underwater glider at different water depths has important significance.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a method for measuring net buoyancy loss of an underwater glider at different water depths, which can measure the net buoyancy loss of the underwater glider at different water depths. The method does not need any auxiliary device, can be realized by simply controlling the underwater glider, and has the advantages of simple and convenient operation, accurate and reliable measuring result and the like.
A method for measuring net buoyancy loss of an underwater glider in different water depths is characterized in that the underwater glider is suspended at different depths, the buoyancy equal to gravity at the depth can be obtained through stress analysis, the gravity of the underwater glider and the buoyancy on the surface of seawater are weighed through a hook scale, and the net buoyancy loss at the depth can be obtained; the buoyancy of the glider on the water surface is changed through the buoyancy system of the underwater glider, so that the glider can hover at different depths, and the net buoyancy loss of the underwater glider at different depths can be calculated. As shown in fig. 1.
A method for measuring net buoyancy loss of an underwater glider at different water depths comprises the following steps:
1. measuring the gravity G of the glider, and changing the buoyancy of the underwater glider to B by the buoyancy system of the underwater glider1（B1<G) (ii) a Submerging the underwater glider according to a preset program through an underwater glider control system;
2. the buoyancy changes along with the depth due to the influence of the sea water density and the shell compression, when a certain depth is reached, the buoyancy is equal to the gravity for hovering, and the depth value h is recorded through an underwater glider depth meter1Force analysis at this depth G = B11In which B is11Is the buoyancy at that hover depth;
3. when the hovering time of the underwater glider reaches the preset time, the underwater glider floats out of the water surface, and the depth h of the underwater glider during suspension is read through communication with the shore-based control platform1The net buoyancy loss at that depth can be calculated as;
4. changing the net buoyancy of the underwater glider on the water surface through the buoyancy system, submerging and hovering, repeating the step 2 and the step 3, and measuring the net buoyancy loss at different depths;
5. the relationship between depth and net buoyancy loss is fitted through the measurement data.
The utility model provides a net buoyancy loss measurement method of glider when different depth of water under water, can measure the glider under water when the different degree of depth, net buoyancy's loss size, the net buoyancy size of glider under water under this degree of depth just can further be figured out, carries out control parameter setting to the glider under the task demand of difference and guides, further will strengthen glider duration, and the stability of motion gesture can also improve its intellectuality simultaneously.
Drawings
FIG. 1 is a schematic view of buoyancy measurements at different water depths for an underwater glider by hovering;
FIG. 2 is a schematic view of force analysis of an underwater glider hovering at a certain depth.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
A method for measuring net buoyancy loss of an underwater glider at different water depths comprises the following steps:
1. measuring the gravity G of the glider, and changing the buoyancy of the underwater glider to B by the buoyancy system of the underwater glider1（B1<G) (ii) a Submerging the underwater glider according to a preset program through an underwater glider control system;
2. the buoyancy changes along with the depth due to the influence of the sea water density and the shell compression, when a certain depth is reached, the buoyancy is equal to the gravity for hovering, and the depth value h is recorded through an underwater glider depth meter1Force analysis at this depth is shown in fig. 2, G = B11In which B is11Is the buoyancy at that hover depth;
3. when the hovering time of the underwater glider reaches the preset time, the underwater glider floats out of the water surface, and the depth h of the underwater glider during suspension is read through communication with the shore-based control platform1The net buoyancy loss at that depth can be calculated as;
4. changing the net buoyancy of the underwater glider on the water surface through the buoyancy system, submerging and hovering, repeating the step 2 and the step 3, and measuring the net buoyancy loss at different depths;
5. the relationship between depth and net buoyancy loss is fitted through the measurement data.
The present invention and its embodiments have been described above, and the description is not intended to be limiting, and the drawings are only one embodiment of the present invention, and the actual configuration is not limited thereto. Therefore, if the person skilled in the art should be informed by the teachings of the present invention, the component shapes and the connection modes without inventive design and the structural modes and embodiments similar to the technical solution shall fall within the protection scope of the present invention.
Claims (1)
1. A method for measuring net buoyancy loss of an underwater glider at different water depths comprises the following steps:
1. measuring the gravity G of the glider, and changing the buoyancy of the underwater glider to B by the buoyancy system of the underwater glider1，B1<G; submerging the underwater glider according to a preset program through an underwater glider control system;
2. the buoyancy changes along with the depth due to the influence of the sea water density and the shell compression, when a certain depth is reached, the buoyancy is equal to the gravity for hovering, and the depth value h is recorded through an underwater glider depth meter1Force analysis at this depth G = B11In which B is11Is the buoyancy at that hover depth;
3. when the hovering time of the underwater glider reaches the preset time, the underwater glider floats out of the water surface, and the depth h of the underwater glider during suspension is read through communication with the shore-based control platform1The net buoyancy loss at that depth can be calculated as;
4. changing the net buoyancy of the underwater glider on the water surface through the buoyancy system, submerging and hovering, repeating the step 2 and the step 3, and measuring the net buoyancy loss at different depths;
5. the relationship between depth and net buoyancy loss is fitted through the measurement data.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910043561.2A CN111442871A (en) | 2019-01-17 | 2019-01-17 | Method for measuring net buoyancy loss of underwater glider at different water depths |
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| CN201910043561.2A CN111442871A (en) | 2019-01-17 | 2019-01-17 | Method for measuring net buoyancy loss of underwater glider at different water depths |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101319988A (en) * | 2008-07-08 | 2008-12-10 | 中国船舶重工集团公司第七○二研究所 | Buoyancy loss test device and method for buoyancy material under high hydrostatic pressure |
| CN106043635A (en) * | 2016-06-24 | 2016-10-26 | 天津深之蓝海洋设备科技有限公司 | Rapid buoyancy adjusting device of underwater glider |
| CN107544526A (en) * | 2017-08-07 | 2018-01-05 | 熊学军 | Oil sac formula underwater glider floatage accuracy control method |
| CN109000779A (en) * | 2018-07-12 | 2018-12-14 | 青岛中海潮科技有限公司 | A kind of ocean acoustic propagational reliability model Rapid matching system |
| CN109855971A (en) * | 2018-12-21 | 2019-06-07 | 中国船舶重工集团公司第七一0研究所 | The measurement method that buoyant material buoyancy loses under a kind of simulated deep-sea environment |
-
2019
- 2019-01-17 CN CN201910043561.2A patent/CN111442871A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101319988A (en) * | 2008-07-08 | 2008-12-10 | 中国船舶重工集团公司第七○二研究所 | Buoyancy loss test device and method for buoyancy material under high hydrostatic pressure |
| CN106043635A (en) * | 2016-06-24 | 2016-10-26 | 天津深之蓝海洋设备科技有限公司 | Rapid buoyancy adjusting device of underwater glider |
| CN107544526A (en) * | 2017-08-07 | 2018-01-05 | 熊学军 | Oil sac formula underwater glider floatage accuracy control method |
| CN109000779A (en) * | 2018-07-12 | 2018-12-14 | 青岛中海潮科技有限公司 | A kind of ocean acoustic propagational reliability model Rapid matching system |
| CN109855971A (en) * | 2018-12-21 | 2019-06-07 | 中国船舶重工集团公司第七一0研究所 | The measurement method that buoyant material buoyancy loses under a kind of simulated deep-sea environment |
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Application publication date: 20200724 |
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