基于浮力调节系统的AUV水底着陆策略研究

Research on AUV underwater landing strategy based on variable buoyancy system

[目的]水底着陆是自主式水下机器人(AUV)实现水下长期潜伏、定点观测的一种手段,有利于更好地掌握海洋环境的变化。[方法]介绍基于油囊式浮力调节系统的作业型AUV的基本组成结构及主要功能,提出控制浮力垂直下潜着陆和航行下潜控制浮力垂直着陆这2种水下着陆策略,分析AUV目标点偏离、能耗和离底情况,并开展湖上着陆试验验证。[结果]试验结果表明,依靠该浮力调节系统,AUV能够在水下稳定着陆并安全离底;航行下潜控制浮力垂直着陆策略比控制浮力垂直下潜着陆策略更节省能源,且着陆目标点更为准确。[结论]因此,航行下潜控制浮力垂直着陆策略更符合未来实际应用的需求。

[Objectives]The underwater landing of an Autonomous Underwater Vehicle(AUV)is a way to achieve underwater long-term latency and fixed-point observation which is conductive to the better control of changes in the marine environment.[Methods]This paper mainly introduces the fundamental structure and main functions of an AUV which is based on the oil sac type variable buoyancy system.Two kinds of underwater landing strategies are established:controlled buoyancy vertical dive landing and sailing dive and controlled buoyancy vertical landing.The target point deviation,energy consumption and AUV take-off from the bottom are analyzed,and the actual underwater landing experimental verification is carried out in a lake.[Results]The experimental results show that the AUV is able to steadily land underwater and take off from the bottom safely with this variable buoyancy system.The control strategy of sailing dive and controlled buoyancy vertical landing can save more energy,and the landing point is more accurate than with the strategy of controlled buoyancy vertical diving.[Conclusions]As such,the control strategy of sailing dive and controlled buoyancy vertical landing is more in line with the demands of future practical application.