Please wait a minute...
J4  2009, Vol. 43 Issue (10): 1772-1776    DOI: 10.3785/j.issn.1008-973X.2009.10.005
机械工程     
水下滑翔机浮力调节系统设计及动态性能研究
赵伟, 杨灿军, 陈鹰
(浙江大学 流体传动及控制国家重点实验室, 浙江 杭州 310027)
Design and dynamic performance study of buoyancy regulating system of autonomous underwater glider
ZHAO Wei, YANG Can-jun, CHEN Ying
(State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China)
 全文: PDF(800 KB)   HTML
摘要:

通过动力学分析,确定水下滑翔机的体积变化范围达到±200 mL就可以保持滑翔运动.比较水下滑翔机经常采用的两类改变体积的方法,选用液压方式的浮力调节系统为水下滑翔机提供动力.浮力调节系统由外部油囊、内部油缸、双向泵、单向阀和电磁开关阀组成,采用AMESim软件的仿真分析结果表明,浮力调节系统工作时间稳定、排量变化均匀.实验结果表明,水下滑翔机的体积变化可以准确测量,集成于内部油缸的传感器使体积变化的分辨率达到0.76 mL,在0.2~1.5 MPa的环境压力下,浮力调节系统的排油和回油时间稳定在80 s左右,其工作性能符合水下滑翔机运动需求.

Abstract:

Dynamic analysis shows that an autonomous underwater glider can keep gliding as long as the range of volume changes up to ±200 mL. There are two kinds of methods to change the volume of the autonomous underwater glider. The autonomous underwater glider is driven by an electro-hydraulic buoyancy regulating system, which consisting of outer bladder, inner tank, two-way pump, one-way valve and electromagnetic switch valve. Simulation with the AMESim software indicated that the working time and the volume change rate of the buoyancy regulating system were kept well. The volume change of the autonomous underwater glider was measured accurately by the sensors built in the inner tank, and its resolution was 0.76 mL. The working time while oil drain and oil absorption approximates to 80s under the pressure from 0.2 MPa to 1.5 MPa. The dynamic performance of the buoyancy regulating system meets the demands of autonomous underwater glider.

出版日期: 2009-11-29
:  X 834  
基金资助:

国家自然科学基金重点资助项目(40637037) ;国家自然科学基金资助项目(50675198).

通讯作者: 杨灿军,男,教授.     E-mail: ycj@zju.edu.cn
作者简介: 赵伟(1978-),男,内蒙古赤峰人,博士生,从事海洋环境监测设备的研究.
服务  
把本文推荐给朋友
加入引用管理器
E-mail Alert
RSS
作者相关文章  

引用本文:

赵伟, 杨灿军, 陈鹰. 水下滑翔机浮力调节系统设计及动态性能研究[J]. J4, 2009, 43(10): 1772-1776.

DIAO Wei, YANG Can-Jun, CHEN Ying. Design and dynamic performance study of buoyancy regulating system of autonomous underwater glider. J4, 2009, 43(10): 1772-1776.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2009.10.005        http://www.zjujournals.com/eng/CN/Y2009/V43/I10/1772

[1]RUDNICK D L, DAVIS R E, ERIKSEN C C, et al. Underwater gliders for ocean research[J]. Marine Technology Society Journal, 2004, 38(1): 4859.
[2]BACHMAYER R, LEONARD N E, GRAVER J, et al. Underwater gliders: recent developments and future applications[C]∥ Proceedings of the 2004 International Symposium on UnderwaterTechnology. Tapei: IEEE, 2004: 195200.
[3]SHERMAN J, DAVIS R E, OWENS W B, et al. The autonomous underwater glider “Spray”[J]. IEEE Journal of Oceanic Engineering, 2001, 26(4): 437446.
[4] CHARLES C, ERIKSEN T, JAMES O, et al. Seaglider: a long-range autonomous underwater vehicle for oceanographic research[J]. IEEE Journal of Oceanic Engineering, 2001, 26(4): 424436.
[5]WEBB D C, SIMONETTI P J, JONES C P. SLOCUM: an underwater glider propelled by environmental energy[J]. IEEE Journal of Oceanic Engineering, 2001, 26(4): 447452.
[6] GRIFFITHS G, MERCKELBACH L, SMEED D. On the performance of three deep-diving underwater gliders[C]∥ OCEANS 2007-Europe. Aberdeen: IEEE, 2007: 15.
[7] 蒋新松,封锡盛,王隶棠.水下机器人[M].沈阳:辽宁科学技术出版社,2000:292297.
[8]吴旭光,徐德民.水下自主航行器动力学模型:建模和参数估计[M].西安:西北工业大学出版社,1998:1520.
[9] 俞建成,张奇峰,吴利红,等.水下滑翔机器人运动调节机构设计与运动性能分析[J].机器人,2005,27(5):390395.
YU Jian-cheng, ZHANG Qi-feng, WU Li-hong, et al. Movement mechanism design and motion performance analysis of an underwater glider[J]. Robot, 2005, 27(5): 390395.
[10] 吴利红,俞建成,封锡盛.水下滑翔机器人水动力研究与运动分析[J].船舶工程,2006,28(1):1216.
WU Li-hong, YU Jian-cheng, FENG Xi-sheng. Hydrodynamic research and motion analysis of AUG[J]. Ship Engineering, 2006, 28(1): 1216.
[11] 王树新,李晓平,王延辉,等.水下滑翔器的运动建模与分析[J].海洋技术,2005,24(1):59.
WANG Shu-xin, LI Xiao-ping, WANG Yan-hui, et al. Dynamic modeling and analysis of underwater gliders [J]. Ocean Technology, 2005, 24(1): 59.
[12] LEONARD N E, GRAVER J G. Model-based feedback control of autonomous underwater gliders[J]. IEEE Journal of Oceanic Engineering, 2001, 26(4): 633645.
[13] BACHMAYER R, GRAVER J G, LENOARD N E. Glider control: a close look into the current glider controller structure and future developments[C]∥ OCEANS 2003. San Diego: IEEE, 2003: 951954.
[14] 王树新,王延辉,张大涛,等.温差能驱动的水下滑翔器设计与实验研究[J].海洋技术,2006,25(1):15.
WANG Shu-xin, WANG Yan-hui, ZHANG Da-tao, et al. Design and trial on an underwater glider propelled by thermal engine[J]. Ocean Technology, 2006, 25(1): 15.
[15] 吴怀超,金波,杨灿军,等.海底热液长期原位探测器流控系统的设计与实现[J].浙江大学学报:工学版,2008,42(3):539543.
WU Huai-chao, JIN Bo, YANG Can-jun, et al. Design and implementation of fluid control system of long-time in-situ detector for seafloor hydrothermal fluid[J]. Journal of Zhejiang University:Engineering Science, 2008, 42(3): 539543.

No related articles found!