自主水下航行器安全抛载系统设计

Design of Safety Jettison System for Autonomous Underwater Vehicle

摘要:

自主水下航行器(AUV)在海洋资源勘探与开发中发挥着重要作用,安全性作为其研究的重要内容与关键技术之一,关乎着水下任务能否顺利完成并安全返回。为进一步加强AUV在水下应对故障及危险的能力,依托实体AUV,设计一套安全抛载系统。该系统基于ARM Cortex-M4处理器,搭建AUV安全抛载电路,使其不仅能够响应程序预先设定的抛载指令,还能根据一些突发或紧急情况,自动触发抛载动作,如：系统掉电、死机或漏水等。最后通过岸上模拟实验与水下实验,验证了该系统的可行性与可靠性,可有效保障AUV水下航行安全。

Abstract:

Autonomous underwater vehicle (AUV) plays a vitally crucial role in ocean exploration and development, and as one of the key technology, its safety is the important part of research that determines whether the AUV can accomplish the underwater mission and return back safely. In order to further enhance its ability of dealing difficulty and dangerous situation when AUV maneuvers under the water, a renew safety jettison system is designed. In this system, the main controller unit of security guarantee computer utilizes the ARM Cortex-M4 processor, and establish the security jettison circuit of AUV, which can response the jettison command that set previously and trigger the jettison motion automatically according to emergent situation, such as: the control system powered off, system halted, water leakage. Finally, through simulation and trial, the reliability and feasibility of the designed safety jettison system verified, which can guarantee the safety of AUV when maneuvers under the water .