【摘要】 针对部分水下机器人需要搭载浮力调节系统调控重浮力进行姿态调节或是降低功耗等需求，对浮力调节技术进行研究，旨在提高系统调节精度。指出影响系统调节精度存在两方面因素：一为定量充排的准确性，二为系统在压力作用下的形变大小。通过分析现阶段各调节方式对提高调节精度要求的适用性后，以重量调节式中的液压泵-压载水舱式为研究对象，分析系统内部各组成单元对调节精度的影响。构建液压回路，研制浮力调节装置，设计模糊PID控制器提升系统的响应速度及抗干扰能力，进行陆上及水下定量充排实验。结果表明系统的调节误差可控制在给定允许误差范围之内且将平均误差控制在5%以下，验证了所研究技术的可行性。为后续高精度浮力调节系统的开发提供有益参考。更多还原

【Abstract】 In view of the requirements that some underwater vehicles need to be equipped with buoyancy regulation system to accurately regulate gravity and buoyancy for attitude regulation or reduce power consumption, the buoyancy regulation technology is studied in order to regulate buoyancy with high precision. Two factors affecting the adjustment accuracy of the system are proposed: one is the accuracy of quantitative charging and discharging, and the other is the deformation of the system under pressure. After analyzing the applicability of various adjustment methods to improve the adjustment accuracy, taking the hydraulic pump-ballast tank as the research object, analyzing the influence of various components in the system on the adjustment accuracy.Building the hydraulic circuits, develop a buoyancy control device,design a Fuzzy-PID controller to improve the response speed and anti-interference ability of the system and carry out onshore and underwater experiments. The results show that the adjustment error of the system can be controlled within the given allowable error range and the average error is controlled below 5%, verifying the feasibility of the studied technology. It provides a useful reference for the subsequent development of high-precision buoyancy control system.更多还原