The invention discloses a buoyancy center compensation device for an unmanned underwater vehicle and a use method of the buoyancy center compensation device, and relates to the technical field of unmanned underwater vehicles. The device comprises a buoyancy adjusting system, a posture adjusting system and an automatic control system. The buoyancy adjusting system is composed of a water ballast tank, an electromagnetic valve A, an electromagnetic valve B, an electromagnetic valve C, an electromagnetic valve D, a water pump and a filter. The posture adjusting system comprises an adjusting mechanism, a rotating mechanism, a ballast mass block and a gravity center adjusting driving motor; the automatic control system comprises an air pressure sensor, a water depth sensor, an MEMS inertial navigation system, a position encoder, buoyancy adjusting software, attitude adjusting software, main control board software and upper computer software. By adopting the wave compensation algorithm, the interference of sea waves on the stability of the unmanned underwater vehicle can be reduced when the unmanned underwater vehicle works on the water surface, and meanwhile, by adopting the buoyancy center-gravity center compensation algorithm, the moving speed of the unmanned underwater vehicle can be greatly improved, so that the reaction instantaneity of the underwater vehicle is improved.

    本发明公开了一种用于无人潜航器的浮心补偿装置及其使用方法,涉及无人潜航器技术领域。本发明包括浮力调节系统、姿态调节系统和自动控制系统;浮力调节系统由压载水舱、电磁阀A、电磁阀B、电磁阀C、电磁阀D、水泵和过滤器组成;姿态调节系统包括调整机构、旋转机构、压载质量块和重心调节驱动电机;自动控制系统包括气压传感器、水深传感器、MEMS惯导、位置编码器、浮力调节软件、姿态调节软件、主控板软件和上位机软件。本发明通过采用波浪补偿算法,使无人潜航器在水面工作时可降低海浪对无人潜航器稳定性的干扰,同时采用浮心‑重心补偿算法,能够大大提高无人潜航器的移动速度,从而提升潜航器反应的即时性。


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    Title :

    Buoyancy center compensation device for unmanned underwater vehicle and use method of buoyancy center compensation device


    Additional title:

    一种用于无人潜航器的浮心补偿装置及其使用方法


    Contributors:
    DUAN YIMING (author) / WU KAIYANG (author) / KE SICHENG (author)

    Publication date :

    2022-01-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen



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