Buoyancy Regulation Strategy for Underwater Profiler Based on Adaptive Genetic Algorithm

Abstract

Considering the energy limitations of underwater vehicles, a strategy for energy saving is proposed. In the proposed buoyancy regulation strategy, oil of the buoyancy regulation system is pumped out several times at different depths instead of all at once. A balance between energy and time is achieved by assigning suitable weights, and the optimised depth which can be obtained from the pressure sensor is used as the judgement threshold based on the adaptive genetic algorithm. Through the numerical simulation using sea trial data, the influence of weight selection on energy and time is explored, and the frequency of oil draining for the vehicle to ascend is optimised. Simulation results show that the proposed buoyancy regulation strategy can save energy effectively when the frequency of oil draining is 4 times within depths of 0–500 m. Finally, trials were performed in Qiandao Lake and verify the contradictory relationship between energy and time.

Fuzzy Sliding Mode Control Method for AUV Buoyancy Regulation System

“…In [6], the effect of the external seawater pressure on the motor speed and hydraulic power source is not considered during the modeling process. us, the model established in [18] cannot reflect the real working environment of AUV.…”

“…With the high-speed development of marine resources, autonomous underwater vehicle (AUV) is playing an increasingly important role [1][2][3][4][5]. For the large-depth heave motion of the AUV, it will consume a large amount of energy if the propeller-based drive is selected, while the buoyancy regulation system will provide positive/negative buoyancy by discharging/charging water to achieve unpowered heave [6][7][8][9]. us, the buoyancy regulation system will effectively reduce energy consumption [10].…”

Depth-Keeping Control for a Deep-Sea Self-Holding Intelligent Buoy System Based on Inversion Time Constraint Stability Strategy Optimization

“…As a kind of ocean observation platform, a deep-sea self-holding intelligent buoy (DSIB) has been applied for ocean observation. The observation scheme of DSIB is shown in Figure 1 [ 3 , 4 ]. It enjoys the advantages of small size, convenient deployment, independent observation, and low price.…”