基于水舱结构的水下无人航行器平衡液位自动调整研究

Research on automatic adjustment of balance liquid level of Underwater Unmanned Aerial 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 underwater unmanned vehicle equipped with water tank needs to manually adjust the water tank liquid level to make the vehicle in the state of zero 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 tank liquid level information are integrated through PID algorithm, and the water volume of the tank is adjusted to realize that the vehicle density is similar to the current water density, so as to find the tank liquid level under the zero buoyancy balance attitude of the vehicle. According to MATLAB simulation analysis, the algorithm can realize the purpose of autonomous adjustment balance levels