Journal of South China University of Technology (Natural Science Edition) ›› 2021, Vol. 49 ›› Issue (9): 120-125.doi: 10.12141/j.issn.1000-565X.210347

Special Issue: 2021年流体动力与机电控制工程

• Fluid Power & Electromechanical Control Engineering Special • Previous Articles     Next Articles

Design and Precision Analysis of Buoyancy-Regulating Device with Multicylinder Structure

SONG Mancun LI Guoqiang ZHU Yi TIAN Guanzhi ZHANG Lingcheng WANG Zhihui   

  1. Beijing Institute of Precision Mechatronics and Controls，Beijing 100076，China∥Laboratory of Aerospace Servo Actuation 
    and Transmission，Beijing 100076，China
  • Received:2021-05-27 Revised:2021-08-04 Online:2021-09-25 Published:2021-09-01
  • Contact: 宋满存（1986-），男，博士生，高级工程师，主要从事伺服技术与水下动力技术研究。 E-mail:songmcld@163.com
  • About author:宋满存（1986-），男，博士生，高级工程师，主要从事伺服技术与水下动力技术研究。
  • Supported by:
    Supported by the National Natural Science Foundation of China (U1737202)

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Abstract: 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.

Key words: buoyancy-regulating device, unmanned underwater vehicle, unmanned system, multicylinder, precision

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