水下机器人主动升沉补偿系统研究

介绍一种基于水下机器人常规液压收放绞车的主动升沉补偿系统,利用加速度传感器获得母船的升沉运动信号,控制绞车的运转来降低母船的升沉运动对水下机器人的影响。通过理论计算建立主动升沉补偿系统的数学模型,仿真分析绞车运动对水下机器人升沉运动的补偿效果,并利用主动升沉补偿系统实验台验证基于常规液压收放绞车的主动升沉补偿方案的可行性。

Heave compensation system is very important for improving the safety of peration,deployment and recovery of underwater vehicles.In this paper,an active heave compensation system which functions using a normal hydraulic winch is introduced. Accelerometer measures the heave motion of the ship which will be reduced by controlling the hydraulic winch. The mathematic model of the active heave compensation system is built.By using the model, the effect of the heave compensation system is studied.In the last,the feasibility of the active heave compensation system is studied by using experimental devices of the active compensation system.