1. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. University of Chinese Academy of Sciences, Beijing 100049, China
Abstract:A modular autonomous underwater vehicle is introduced, which has basic navigation ability and can realize other functions through extending. 3D parametric design software Solidworks and computational fluid dynamics software CFX are used to analyze and optimize the shape, which can reduce the power consumption. Modular design is adopted in every function module and the connection form between two sections, which simplifies the structure and makes maintenance easy. In addition, the theoretical calculation and software simulation are performed on the strength and stability of pressure hull. Lake tests prove that the autonomous underwater vehicle can complete basic navigation functions with their own sensors, such as independent constant-orientation sailing, independent constant-speed sailing, independent depth-keeping sailing and position closed-loop sailing.
[1] 申雄,徐国华,余琨,等.一种欠定位水下机器人的目标搜索研究[J].中国机械工程,2013,24(2):153-158.Shen X, Xu G H, Yu K, et al. Research on target positioning strategy of an under-location underwater vehicle[J]. China Mechanical Engineering, 2013, 24(2): 153-158.
[2] Meng L S, Lin Y, Xu H L, et al. Effects of front shapes of mini revolving AUV on sailing resistance characteristics[C]//IEEE International Conference on Information and Automation. Piscataway, USA: IEEE, 2015: 1795-1799.
[3] 徐玉如,李彭超.水下机器人发展趋势[J].自然杂志,2011,33(3):125-132.Xu Y R, Li P C. Developing tendency of unmanned underwater vehicles[J]. Chinese Journal of Nature, 2011, 33(3): 125-132.
[4] 李治洋,郭威,葛新.模块化水下机器人控制系统设计[J].机械设计与制造,2012(1):36-38.Li Z Y, Guo W, Ge X. Control system design for ROV based on modularization[J]. Machinery Design & Manufacture, 2012(1): 36-38.
[5] 金碧霞.一种模块化水下机器人的设计[J].机械与电子,2014(4):75-77.Jin B X. Design of a modular underwater robot[J]. Machinery & Electronics, 2014(4): 75-57.