Buoyancy adjusting device of AUV (autonomous underwater vehicle) and control method

Abstract

The invention discloses a buoyancy adjusting device of an AUV (autonomous underwater vehicle) and a control method. The device mainly comprises a bow pressure-resistant fuel tank (8), a storage battery (2), a depthometer (3), a controller (4), a radio station (5), a Beidou 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). Under conditions of known water area depth and underwater environment, rapid upward floating and diving of the AUV are realized by effectively adjusting volume of the oilbag of the AUV and posture of the AUV during upward floating and diving. The designed unpowered vertical snorkeling structure has the advantages as follows: incident flow area of a vertical plane is reduced during upward floating and diving, then vertical resistance is reduced, under the condition of certain buoyancy, rapider upward floating and diving can be realized and energy consumption is reduced, so that the purpose of prolonging underwater working time of the AUV is achieved finally.

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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