A Calculation Method of ARV Buoyancy Trim at Full-Ocean Depth
LU Yang1,2, TANG Yuangui1,2, WANG Jian1,2, CHEN Cong1,2, YAN Xingya1,2
1. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110169, China; 2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
陆洋, 唐元贵, 王健, 陈聪, 闫兴亚. 全海深ARV浮力配平计算方法[J]. 机器人, 2021, 43(1): 74-80.DOI: 10.13973/j.cnki.robot.200037.
LU Yang, TANG Yuangui, WANG Jian, CHEN Cong, YAN Xingya. A Calculation Method of ARV Buoyancy Trim at Full-Ocean Depth. ROBOT, 2021, 43(1): 74-80. DOI: 10.13973/j.cnki.robot.200037.
Abstract：When a full-ocean depth ARV (autonomous and remotely-operated vehicle) dives to Mariana Trench, the vehicle structure and the volume of compensation oil will change due to the pressure increase and temperature fall of seawater in the working environment. Taking the abyssal seawater density, gravity acceleration and robot volume change into consideration, the change amount of the robot buoyancy state is calculated, so as to calculate the robot buoyancy trim. A calculation method of buoyancy trim for the full-ocean depth ARV is obtained through formula derivation, combining with the experimental data of Hadal ARV and the compression experiment data of compensation oil. It mainly includes seawater density calculation, Mariana trench gravity acceleration calculation, the volume change measurement of the robot and compensation oil. The ballast for buoyancy trim at 11 000 m depth is calculated to be 8.9 kg. The buoyancy trim of Hadal ARV ensures that the buoyancy and gravity match suitably in abyssal working environment. Several sea trials at Mariana Trench are conducted. The proposed method provides a theoretical calculation basis for buoyancy trim of the full-ocean depth underwater robots.
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