基于水舱结构的UUV平衡液位算法研究

Algorithm Research on Balance Liquid Level of Unmanned Underwater Vehicle Based on Water Tank Structure

摘要:

为了解决装配水舱的水下无人航行器在出航前，需人为通过调节水舱液位，使航行器处于零浮力状态的不便捷性问题，提出一种可以自动调整航行器平衡液位的方法。结合航行器自身水舱结构，通过 PID 算法将航行器的姿态信息和水舱液位信息进行整合，调节水舱水量实现航行器密度近似于当前水域密度，寻找满足航行器零浮力平衡姿态下的水舱液位。通过 MATLAB 仿真分析，该算法可以实现自主调节平衡液位的目的。

Abstract:

In order to solve the inconvenient problem that the unmanned underwater vehicle equipped with water tank needs to manually adjust the water tank liquid level to make the vehicle in the state of neutral buoyancy before sailing，a method that can automatically adjust the balance liquid level of the vehicle is proposed. Combined with the tank structure of the vehicle，the attitude information of the vehicle and the information about tank liquid level are integrated through PID algorithm，and the water volume of the tank is adjusted to make the vehicle density approximate to the current water density，so as to find a solution that satisfies the neutral buoyancy balance attitude of the vehicle. According to MATLAB simulation analysis，the algorithm can realize the purpose of autonomous adjustment of balance levels.