浮力调节装置可用于无人潜航器的浮力控制，使其节能地实现上浮、下潜或悬停等功能。文中基于5级缸结构设计了一款大容积高精度的液压油容积式浮力调节装置，通过位移传感器监控活塞位置并对多级缸伸缩特性进行假设，得到了浮力分段解算方法和最大可能误差范围；通过样机研制与试验，验证了多级缸在磨合后趋于伸缩特性假设的事实，同时对浮力分段解算方法进行了优化拟合，大幅提高了该浮力调节装置的精度。试验证明，文中样机可以满足0~80L浮力连续可调、1L最小调节步长、综合调节精度不低于0.5%FS的指标要求。

Buoyancy regulating device can be used in unmanned underwater vehicles to realize the energy-saving rising，diving or suspending in the water.In this study，a buoyancy-regulating device with lager volume and high precision was designed with a five-cylinder structure.Firstly，the piston position was monitored by a displacement sensor and the telescopic characteristics of the multicylinder were assumed，so that the piecewise method of buo-yancy and the maximum possible error range were obtained.Then，based on the design and experiments of the prototype，the fact that the multicylinder tends to retain the characteristics after running was verified.Meanwhile，the piecewise method of buoyancy calculation was optimized to improve precision ability largely.Experimental results show that the prototype can meet the requirements of the continuous buoyancy regulating of 0~80L，the minimum regulating step of 1L，and the comprehensive precision of no less than 0.5%FS.