Research On Center Of Mass Measuring System For Sea-glider

With the development of exploring on the Marine areas,sea-glider which is one kind of AUG(Autonomous Underwater Glider) have been applied comprehensively. Sea-glider can unpowered underwater navigate by adjust its own buoyancy and center of mass. So, it's important to measure the center of mass accurately for improving the stability and controllability of sea-glider. Due to the internal structure of the sea-glider is very complex, the quality distribution is seriously uneven. Therefore, it needs to develop a special center of mass measuring system for sea-glider.Firstly, according to the specifications of the center of mass measurement of sea-glider, a kind of effective and high precision measurement scheme are proposed by analyzing three different kind of technology of measuring the center of mass. And according to the measurement, the center of mass measurement device is made modularized and the measuring soft is written by LabVIEW.Secondly, it can be knew by analyzing the uncertainty of center of mass measurement that the measuring error is direct proportion to distribution distance of weighing sensor and change regularly with the rotation angle, that is, when enlarge the rotation angle, the measuringerror will decline rapidly at first, then will be a modest rise.Thirdly, based on real measurement,a non-horizontal center of mass measuring method is proposed by analyzing the rotation transformation process of the different coordinates in the center of mass measuring system and the force situation of the device.At last, the center of mass measuring device can be verified to satisfying performance requirement by doing the calibration test. And the conclusion which is come from uncertainty analysis and the non-horizontal center of mass measuring method are verified by doing center of mass measuring test.