全海深ARV抛载系统研发及深海试验

抛载系统是水下机器人安全工作的核心关键部分。以“思源号”全海深ARV（自治缆控水下机器人）为研究对象,开展ARV作业过程中压载水下释放问题研究。通过在ARV底盘下侧布置下潜抛载模块,上艇体两侧对称布置上浮抛载模块,设计了一套基于电磁驱动的超高压水下抛载系统。利用Maxwell 2D电磁场有限元分析软件对非接触式电磁铁作了静磁场数值分析,得到电磁铁的磁力线与磁通密度分布图,验证了抛载电磁铁可以满足压载吸附和抛弃的功能。设计了一种非磁性钛合金隔离片,用于消除电磁铁断电后存在的吸附效应,解决了抛载失败的问题。开展了电磁吸力测试、可靠性试验、超高压试验以及深海试验,试验结果验证了所设计的全海深ARV抛载系统能够在深海环境下实现水下释放压载,为全海深ARV实现上浮下潜和水下浮态控制提供重要保障。

Research and development of full-ocean-depth ARV ballast system and deepsea test

The ballast system is a core and critical part of the safe operation of the underwater robot. In this study, the "Siyuan" full ocean depth ARV (Autonomous and Remotely-Operated Vehicle) was taken as the research object, and the research on the underwater release of ballast during ARV operations was conducted. By arranging descending ballast weight modules on the underside of the ARV chassis, and placing the ascending ballast weight modules symmetrically on both sides of the upper hull, a set of ultra-high pressure underwater ballat system based on electromagnetic drive was designed. The static magnetic field of the non-contact electromagnet was numerically analyzed by Maxwell 2D electromagnetic finite element analysis software, and the magnetic field lines and magnetic flux density distribution of the electromagnet were obtained, which verifies that the ballast electromagnet can meet the functions of ballast weight adsorption and release. A non-magnetic titanium alloy separator was designed to eliminate the adsorption effect after the electromagnet was powered off, and to solve the problem of failure to release the ballast weight. The electromagnetic suction test, reliability test, ultra-high pressure test and deep-sea test were carried out. The test results verify that the designed full ocean depth ARV ballast system can release ballast weight in deep-sea environment. The research findings provide an important guarantee for the realization of ascending and descending and underwater buoyancy control.