摘要
针对大深度水下机器人升沉运动过程中耗能较大的问题,提出了一种海水浮力调节的驱动方式。针对没有大压力、小流量高压海水泵问题,研制了由低压齿轮油泵驱动海水增压泵的装置作为产生高压海水的动力源,并设计了切换阀及压力平衡阀等关键部件。为模拟大深度海洋环境,研制了外负载模拟装置,对大深度海水浮力调节系统进行了前后舱充排水同步性实验、压力-流量实验、能耗实验以及定量充排水等4个实验,实验结果验证了该系统的可行性和有效性。
Taking aim at the large energy consumption problem of underwater vehicles caused by heaving while deep sea diving,a new way of using seawater for buoyancy regulation is proposed. Improving on the existing low pressure,low flow rate,seawater pump,a new device driven by a hydraulic gear pump was developed to provide high pressure seawater. Key components such as a switching valve and a pressure balance valve were evaluated and designed. To simulate the deep sea environment,a device for simulating external pressure was developed. The feasibility and effectiveness of the deep sea buoyancy regulating system were verified by synchronous water-in / out,pressure-flow rate,energy conservation,and steady seawater flow-rate in / out experiments in the vehicle fore and rear ballast tanks.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2015年第9期1269-1275,共7页
Journal of Harbin Engineering University
基金
国家863计划资助项目(2012AA09A304)
国防基础科研资助项目(B2420133003)
关键词
海水浮力调节系统
海水增压泵
外负载模拟装置
水液压
水下机器人
模糊PID控制
seawater-type buoyancy regulating system
seawater pressure-boosting pump
external load device
water hydraulic
underwater vehicle
fuzzy PID control
