Research Of The Emergency System For The High-speed AUV

The research of underwater high-speed unmanned vehicle belongs to the research field of AUV,but the underwater high-speed unmanned vehicle and the ordinary AUV have distinctly different characteristics.For example,the highest speed of the underwater high-speed unmanned vehicle is much larger than the AUV,so the underwater high-speed unmanned vehicle can be seen as a high speed AUV.The underwater high-speed unmanned vehicle is difficult to maneuver and the navigation environment is complex.At present,underwater vehicles are all equipped with emergency systems,or self-rescue systems,safety systems,etc.,whose function is to make the vehicle float to the surface quickly when the vehicle fails.In order to prevent further damage to the vehicle,this paper designs an emergency system for the high-speed unmanned vehicle and does the following research:Firstly,the development of underwater vehicles is outlined,and the necessity of having an emergency system for vehicles is demonstrated.Secondly,the research status of the underwater vehicle emergency system at home and abroad is studied.According to the shortcomings of these existing emergency systems,the improvement idea of the emergency system is proposed.It mainly focuses on improving the emergency strategies and the reliability of the emergency system.The main functions of the emergency system are designed,and expert knowledge is used to establish an emergency decision model,making the emergency decision of the emergency system more scientific.Then,based on this underwater high-speed unmanned vehicle,the actuators of the emergency system are designed,including the airbag actuator and the cabled buoy actuator.Design details are shown to guarantee the practicality of the actuators.Then select the hardware for the emergency system controller,based on real-time operating system Vx Works,emergency system control software is coded.HIL simulation experiment is carried out and the lake trial further verified the utility and reliability of the emergency system.Finally,conclusions of this emergency system is made,the superiorities of this emergency system are listed including wide applicability and high reliability,as well as the novelty of the actuators.Therefore,this emergency system is of great significance for emergency rescue of underwater unmanned vehicles.