AUV自主收放装置结构及控制系统设计

AUV技术对于提高海洋资源环境的勘测和开采效率具有重要意义。在AUV收放过程中,传统的回收方式是在母船上起吊回收,人为参与完成挂钩任务,这种方式受风浪的影响较大。为了提高AUV的使用保障能力,需要针对AUV的自主收放技术展开研究。基于AUV良好的实时性、连续性及可移动性的特点,本文设计一套AUV自主收放装置,可用于AUV的自动布放及回收。该装置由固定架、控制台、吊机装置、绞车、定滑轮、钢丝绳、收放架等组成。设计各部分的机械结构,并通过系统校核验证结构设计的合理性。同时,设计AUV收放存储装置控制系统,实现对机械液压执行器的精密控制、传感器的数据采集、系统状态参数显示、试验参数调整、工作状态监控和安全报警等功能,能够对控制系统的控制流程进行辅助判断和安全保障。解决了传统AUV收放技术的难题,提高了AUV收放的智能化水平。

Research on the structure and control system design of AUV autonomous retractable device

AUV technology is of great significance for improving the survey and mining efficiency of marine resources and environment. In the process of AUV storage, the traditional recovery method is to lift and recover on the mother ship,and participate in the completion of the hooking task. This method is greatly affected by the wind and waves. In order to improve the ability to use AUVs, it is necessary to conduct research on AUV’s autonomous retractable technology. Based on the characteristics of AUV’s good real-time, continuity and mobility, this paper designed a set of AUV autonomous retractable device, which can be used for automatic deployment and recovery of AUV. The device is composed of a fixed frame, a console, a crane device, a winch, a fixed pulley, a steel wire rope, a retractable frame and so on. The mechanical structure of each part is designed, and the rationality of the structural design is verified through system check. At the same time, the control system of AUV retractable storage device is designed, which realizes the functions of precise control of mechanical hydraulic actuators, data collection of sensors, display of system status parameters, adjustment of test parameters, monitoring of working status and safety alarms, etc. It solves the problems of traditional AUV retractable technology and improves the intelligent level of AUV retractable.