Abstract
The growing needs in exploring ocean resources have been pushing the length and complexity of autonomous underwater vehicle (AUV) missions, leading to more stringent energy requirements. A promising approach to reduce the energy consumption of AUVs is to use variable buoyancy systems (VBSs) as a replacement or complement to thruster action, since VBSs only require energy consumption during limited periods of time to control the vehicle’s floatation. This paper presents the development of an electrohydraulic VBS to be included in an existing AUV for shallow depths of up to 100 m. The device’s preliminary mechanical design is presented, and a mathematical model of the device’s power consumption is developed, based on data provided by the manufacturer. Taking a standard mission profile as an example, a comparison between the energy consumed using thrusters and the designed VBS is presented and compared.
Highlights
In recent years, autonomous underwater vehicles have experienced steady development as a result of rising interest in the knowledge of ocean state variables
This is the principle used in underwater gliders [1] with their variable buoyancy systems (VBSs), enabling them to complete month-long missions without any type of maintenance
This work presents a preliminary study regarding the design of an electrohydraulic VBS solution preliminary regardingwith the design an electrohydraulic to be This usedwork in anpresents existing aAUV
Summary
Autonomous underwater vehicles have experienced steady development as a result of rising interest in the knowledge of ocean state variables. The major energy consumption source for AUVs is their propulsion and, as such, it is expected that by controlling the vehicles floatation, energetic improvements should be achieved, since energy is only spent during small periods of time. This is the principle used in underwater gliders [1] with their variable buoyancy systems (VBSs), enabling them to complete month-long missions without any type of maintenance.
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