介绍一种新型正浮力自主航行器的设计与实现。文中描述了正浮力自主航行器的工作模式、工作原理、外形设计、主要部件和控制系统等。该正浮力自主航行器通过其机翼产生负升力来克服自身正浮力，并结合其动力学控制面实现在水下运动。通过进行水池试验对正浮力自主航行器原理样机水面和水下运动的性能、控制响应等进行了研究。水池试验的结果验证和说明了新型正浮力自主航行器的环境适应能力强、安全性较高，并且其性能优异，具有良好的应用前景。
This paper introduces the design and implementation of a new positive buoyancy autonomous vehicle. This paper describes the working mode, working principle, shape design, main components and control system of the positive buoyancy autonomous vehicle. The positive buoyancy autonomous vehicle overcomes its own positive buoyancy by generating negative lift from its wing, and combines its dynamic control surface to realize underwater motion. The performance and control response of the prototype of the positive buoyancy autonomous vehicle are studied through the pool test. The results of the pool test show that the new positive buoyancy autonomous vehicle has strong adaptability to the environment, high safety, excellent performance and good application prospects.
2021,43(9): 98-101 收稿日期：2020-09-22
DOI：10.3404/j.issn.1672-7649.2021.09.019
分类号：U674.8
作者简介：王志光(1991-)，男，博士研究生，主要研究领域为潜水器设计及其运动控制
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