This paper presents an innovative variable buoyancy system (VBS) designed for AUVs, offering high accuracy and groundbreaking solution to the challenges of maintaining depth and buoyancy during extended ocean missions. Conventionally AUVs relied on energy-intensive thrusters to adjust their depth, posing limitations on prolonged missions. This research addresses the pressing need to reduce AUV power consumption by introducing a single saline packet as the AUV’s internal ballast tank which controls the depth of the AUV with very less capacity. This packet automatically compresses when devoid of water and expands when water is pumped in. Significantly, this design eliminates the need for additional air and water valves. The system’s intelligence shines in its real-time calculation of the ballast tank capacity based on millis function precision in pump-in and pump-out times. This VBS is tested in a 1m depth water tank with set-point 0.7m, successfully maintaining the desired depth with 0.2m accuracy. Simulink model is also developed to evaluate the performance of the system. This system is stable till 5m for 100ml of ballast tank capacity.
Development and Validation of Buoyancy Based Depth Control for Micro AUVs
19.06.2024
2980519 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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