Research On Buoyancy Regulation System And Depth Control For Micro-Small AUV

Earth ocean area is large,rich Marine resources,as the deepening of human development and utilization of Marine resources and a growing number of underwater equipment was used as a substitute for human is widely used in ocean exploration and development activities,on its own energy to carry for autonomous navigation of underwater robot autonomous underwater vehicle(AUV)is the important direction of underwater robot,has a lot of potential science and military purposes.Ocean is a complicated environment,influenced by many factors,the AUV mission will be affected by these factors,and so cannot be independent of changes in the environment to adapt to perform tasks as required.Based on this,this paper puts forward the study of buoyancy regulation system,which is an important part of AUV.In this paper,through access to a large number of literature data,understand the current buoyancy regulating system research background and research status at home and abroad,and on this basis to study micro small buoyancy regulating system of AUV.Firstly,this paper based on the micro small AUV buoyancy regulation system and background,the significance of the design index of buoyancy regulating system,by comparing the existing different buoyancy regulation scheme,design a set of new micro small AUV can be applied to the buoyancy adjusting system,and summarizes design for technical difficulties in the process of scheme design and design key point,for the design of parts and components selection,and simulation analysis,the force for the key parts to complete the overall design of 3D and 2D figure drawing.The AUV center of gravity leveling system is designed for the designed buoyancy adjustment system,which can effectively balance the AUV attitude change caused by the buoyancy adjustment process.Secondly,according to the design principle of buoyancy adjustment system and the energy saving requirements of the overall concept of control circuit design,the selection and circuit hardware design and software development of some components are controlled.The control flow of the control system is studied and the flow chart of control system is designed in detail.Then,based on the buoyancy adjusting system of AUV depth control study,the AUV based on the buoyancy adjusting system of the establishment of mathematical model and kinematics equation is derived,and fluid dynamics simulation is carried out by fluid mechanics software analysis and hydrodynamic coefficients,this paper proposes a new method of calculation of AUV added mass.The advantages and disadvantages of different control methods are compared for AUV fixed depth control problems,and the simulation analysis of different depth control methods is carried out.Finally,the processing and assembly of micro-small AUV buoyancy adjustment system are completed,and the test is carried out on the buoyancy regulation system,which ensures the reliability of the system.For buoyancy control system was designed and a set of test platform,simulate the real environment the no-load test and load experiment,verified the buoyancy adjusting system can run normally,it is concluded that the buoyancy adjusting system with external pressure change situation of energy consumption.The AUV fixed depth experiment based on buoyancy adjustment system is carried out,and the buoyancy regulation system and the depth control method meet the design requirements,and the depth effect is ideal.