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US20070186837A1 - Buoyancy control system - Google Patents

Buoyancy control system Download PDF

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Publication number
US20070186837A1
US20070186837A1 US10/568,983 US56898304A US2007186837A1 US 20070186837 A1 US20070186837 A1 US 20070186837A1 US 56898304 A US56898304 A US 56898304A US 2007186837 A1 US2007186837 A1 US 2007186837A1
Authority
US
United States
Prior art keywords
pressure
seawater
buoyancy
control system
chamber
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US10/568,983
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English (en)
Inventor
Philip Bagley
Michael Player
Alan Jamieson
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
University of Aberdeen
Original Assignee
University of Aberdeen
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by University of Aberdeen filed Critical University of Aberdeen
Assigned to ABERDEEN UNIVERSITY reassignment ABERDEEN UNIVERSITY ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: BAGLEY, PHILIP MICHAEL, JAMIESON, ALAN JOHN, PLAYER, MICHAEL ANTHONY
Publication of US20070186837A1 publication Critical patent/US20070186837A1/en
Abandoned legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks

Definitions

  • the present invention relates to a buoyancy control system, and in particular to a buoyancy control system for controlling the buoyancy of an underwater submersible.
  • Unmanned submersibles are used for studying the undersea environment. There are two principal types of such submersibles, remotely operated vehicles (ROVs), and autonomous underwater vehicles (AUVs).
  • ROVs remotely operated vehicles
  • AUVs autonomous underwater vehicles
  • ROVs are free swimming vehicles tethered to a ship via an umbilical cable link which supplies electrical power and/or telemetry to the ROV.
  • ROVs are effectively used, for example, in the oil industry for sub-sea surveys and operations; however, since they require the constant presence of a surface vessel and crew, ROV running costs are high.
  • AUV AUV
  • drifter i.e. an AUV which uses buoyancy control to hold position within the water at predetermined depths to collect data. Having collected data, the drifter rises to the surface to transmit the data to a home station, and then resubmerges to record further data, for example at a different site.
  • AUV A so-called “lander”, which lands on the seabed to collect data, and then rises to the surface to transmit the data to a home station.
  • Other types of AUV are also known, for example powered unmanned submarine-type vessels. It is sometimes also necessary for the AUV to return to the surface to check its position using. the GPS system.
  • the precise course which the AUV takes, the mission profile will vary according to the nature and manner by which the data is to be collected.
  • AUV buoyancy i.e. buoyancy in water.
  • Existing AUVs are designed to float with typically only a few kg (for example, 2 or 3 kg) of positive buoyancy, which reduces manoeuvrability forces, resulting in a longer mission time.
  • an instrument whenever an instrument is either attached to or removed from the AUV, it must be manually re-trimmed, which consumes valuable ship time.
  • buoyancy is affected, which can result in either a rapid rise to the surface or, worse, drop to the seabed.
  • AUV buoyancy may be affected by mere changes in seawater density, to the extent that the AUV may not be able to surface, and thus be recovered.
  • a particular problem with AUV landers is the impact of the lander on the seabed. This impact can disturb the environment the lander is intended to record, which thus affords false readings.
  • the bow wave in front of a sinking lander can disperse superficial sediment on the surface of the seabed, which the lander may be intended to study, and the noise of the lander impact on the seabed may influence the behaviour of animals intended to be studied.
  • buoyancy control at depth for example, 3000 m or greater
  • buoyancy control system There are two main types of known buoyancy control system in this case.
  • the first type of buoyancy control system uses compressed air, which is conventionally used for buoyancy control on manned submarines. In these systems, buoyancy is decreased by filling ballast tanks with water, and buoyancy is increased by forcing the water from the tanks using compressed air.
  • compressed air systems are firstly that they require large amounts of power (hence their use on large, high-power manned submarines), and secondly that they are only operable to depths of hundreds of metres. The use of compressed air at greater depths becomes inefficient and dangerous, due to the very high air pressures required.
  • the second type of buoyancy control system uses a closed loop oil pumping system.
  • oil is pumped to and from a flexible bag, to thereby increase and decrease the volume of the bag, and accordingly the buoyancy of the submersible.
  • the advantages of oil pumping systems are that they require relatively little power, and hence can be used on smaller submersibles, and can operate at much greater depths than compressed air systems, for example 3000 m or greater.
  • the buoyancy change afforded by oil pumping systems is relatively small, for example less than 1 kg.
  • a problem that arises more frequently with AUVs is the drain on the electrical power supply. It is often a design aim for an AUV to make it small and relatively light. This aim is therefore not met if a larger power supply is required. Consequently, it often necessary to make a compromise between the size (and weight) of the power supply and the size (and weight) of the AUV.
  • the size of power supply that is selected can also place limits on the mission profile for the AUV.
  • the compromise that is eventually made also has an impact on the buoyancy control system that is used in the AUV.
  • any system used for buoyancy control difficulties arise in providing sufficient electrical energy to drive the various controls and other electrically operated components without, on the other hand, loading the vehicle with excessive battery weight and volume.
  • a buoyancy control system for controlling the buoyancy of an underwater submersible, the system comprising:
  • buoyancy chamber having a seawater inlet and a seawater outlet
  • a power supply used to power at least one electrical component of the system
  • a hydraulic system for pumping seawater from the chamber through the outlet, the hydraulic system comprising a hydraulic pump and a pressure multiplier, the hydraulic pump for applying pressure to the pressure multiplier, and the pressure multiplier for increasing the pressure applied thereto by the hydraulic pump, and for applying the increased pressure to seawater from the chamber to thereby pump out the seawater.
  • FIG. 1 is a schematic of a buoyancy control system embodying the present invention.
  • FIG. 2 shows estimates of the energy required to generate buoyancy at 3000 metres depth using a pre-pressurised air cylinder of differing volumes at 300 bar.
  • the buoyancy control system comprises a buoyancy chamber in the form of a sphere 5 which is hollow and contains an internal space 6 .
  • the sphere 5 may be, for example, a glass, steel or titanium sphere.
  • the sphere 5 must have sufficient strength under the pressures that it will operate under and has a capacity in this embodiment which is large enough to provide a buoyancy change of 25 kg or greater, for example up to 34 kg.
  • the sphere 5 is provided with a first input 5 A, a second input 7 A, and an outlet 11 A.
  • An expandable flexible bag 7 is provided in the internal space 6 of the sphere 5 and has an input which is connected to the second input 7 A of the sphere.
  • a cylinder of gas 10 is provided adjacent the sphere 5 , the gas being under a pressure GP.
  • the cylinder 10 is connected by a line 8 to the second input 7 A.
  • An electrically controlled solenoid valve 9 is included in the line 8 to control flow of gas along the line.
  • a line 3 is provided which has an input 2 opening to the seawater surrounding the buoyancy control system.
  • the line 3 is connected to the input 5 A of the sphere 5 and includes an electrically controlled solenoid valve 4 , to control flow of seawater along the line 3 , and a variable load electrical generator 33 having a turbine (not shown) such that the generator 33 generates electricity during flow of seawater along the line 3 into the sphere 5 .
  • a pressure multiplier generally identified by numeral 34 which comprises a two part cylinder and two part piston.
  • the two part piston comprises a relatively larger diameter plate 25 at one end connected by a rod 22 to a relatively smaller diameter plate 20 at the other end.
  • the two part cylinder is formed to have one end 24 with a relatively larger diameter (larger diameter cylinder) and hence volume 23 , in which the larger diameter plate 25 can travel, and the other end 18 with a relatively smaller diameter (smaller diameter cylinder) and hence volume 19 , in which the smaller diameter plate 20 can travel.
  • the two plates are connected such that both plates can travel together from the extent of their leftward travel, as illustrated, to their rightward extent.
  • Proximity switches 26 and 21 are provided to detect the leftward and rightward extent of the large plate 25 .
  • a hydraulic pump 28 is connected by a line 27 to the leftward end of the larger diameter cylinder 24 whilst an outlet 16 is provided at the rightward end of smaller diameter cylinder 18 .
  • the hydraulic pump 28 is driven by an electric motor 32 and includes an oil reservoir 30 connected by a line 29 .
  • An inlet 17 is also provided to open into the smaller diameter cylinder 18 .
  • This inlet is connected to a line 11 connecting to the outlet 11 A of the sphere 5 .
  • An electrically controlled solenoid valve 12 is included in the line 11 .
  • the outlet 16 of the smaller diameter cylinder 18 is connected to a line 15 which has an outlet 13 opening to the seawater surrounding the buoyancy control system.
  • the line 15 includes a non-return valve 14 .
  • the output surface of the smaller plate 20 has a surface area less than the input surface area of the larger plate 25 so that the pressure increase generated by the pressure multiplier is determined by the ratio of the surface areas of the output and input surfaces.
  • a battery 31 provides electrical power to a microprocessor controlled electronic control system 35 so that electrical power can be supplied to the electric motor 32 and the various electrically controlled solenoid valves.
  • a pressure transducer 36 is connected to the control system 35 to enable monitoring of the seawater pressure and hence the depth of the seawater.
  • a further pressure transducer 37 is connected to line 8 to monitor the internal pressure of the sphere 5 .
  • the buoyancy control system of the present invention is provided to an apparatus such as an AUV.
  • the battery 31 Prior to operation of the AUV, the battery 31 is fully charged, and the cylinder 10 is charged with a gas to the pressure GP, for example with air or an inert gas such as nitrogen or argon.
  • the flexible bag 7 is extended with gas at below atmospheric pressure such that it substantially fills the internal space 6 of the sphere 5 .
  • the two part piston is located at its left extent and all solenoid valves are in their closed position. At this point, the AUV to which the buoyancy control system is attached is adjusted to be at neutral buoyancy.
  • control system 35 opens solenoid valve 4 so that seawater can travel along line 3 into the sphere 5 .
  • the water in the sphere 5 presses on the flexible bag 7 such that the volume of the flexible bag 7 decreases thereby producing negative buoyancy.
  • the flexible bag 7 also functions to separate the gas therein from the seawater to prevent the gas dissolving into the seawater at high pressures.
  • the control system 35 monitors the depth via the pressure transducer 36 and provides further negative buoyancy as required by letting more seawater into the sphere 5 by controlling solenoid valve 4 . At some point the required depth is reached, for example 3000 metres. At this point, the local pressure LP is 300 bar. If the rate of descent is too rapid, then the solenoid valve 9 can be opened to allow gas into the flexible bag 7 to cause it to expand thereby producing positive buoyancy. Thus, a stable descent of the AUV can be achieved.
  • the control system When a positive buoyancy is actively required, i.e. the volume of seawater in the sphere 5 at local pressure LP must be decreased, the control system operates to open solenoid valve 9 such that gas from cylinder 10 can pass down line 8 to the flexible bag 7 as mentioned above.
  • the pressure in the flexible bag 7 is substantially GP initially assuming that there is little volume within the bladder at local pressure LP. However, as the volume of the flexible bag 7 increases, the pressure GP will drop as the flexible bag 7 expands.
  • the control system 35 can also open solenoid valve 12 which allows seawater from the sphere 5 to bleed down line 11 to the small cylinder 19 of the pressure multiplier 34 .
  • the solenoid valve 12 is then closed and electric motor 32 is activated to drive the hydraulic pump 28 to apply hydraulic pressure to the pressure multiplier 34 , to drive the plates 25 and 20 in the rightward direction which applies an increased pressure to the seawater in volume 19 .
  • the seawater in volume 19 of the smaller cylinder 18 is emptied out of outlet 13 through line 15 and non return valve 14 .
  • the valve 12 When the proximity switch 21 detects the rightward position of plate 25 , the valve 12 is again opened to bleed seawater from sphere 5 into volume 19 , this action forcing the pressure multiplier to return to its original position.
  • the proximity switch 26 detects that the plate 25 is in its leftward position, a signal is sent to the control system 35 which again causes the solenoid valve 12 to be shut and the cycle described above is repeated. That is to say, when the seawater has been expelled from the small cylinder 18 , the electronic control system 35 can cause the pressure multiplier 34 to return to its original position and then re-cycle to expel more seawater from the sphere 5 .
  • the pressure multiplier 34 is therefore preferably a reciprocating pressure multiplier, in that it can reciprocate between a first position in which seawater can enter the volume 19 from the sphere 5 , and a second position in which the seawater in the volume 19 has been expelled therefrom through outlet 16 .
  • FIG. 2 illustrates estimates of the energy required to generate buoyancy at 3000 metres depth using a pre-pressurised air cylinder of differing volumes at 300 bar. It will be appreciated that the pressure and volume of the cylinder 10 can therefore be selected to be most efficient at the particular depth at which the AUV will be working on its mission.
  • the cylinder gas pressure GP may be less than the seawater pressure LP at the maximum depth, and the volume of that cylinder may be varied as well.
  • variable load electrical generator 33 is driven to generate electricity during flow of seawater along the line 3 into the sphere 5 .
  • the control system 35 connects the electrical output of the generator 33 via an internal smoothing circuit (not shown) to produce a smoothed electrical signal suitable for application to an internal charging circuit (not shown) to distribute charging current to the battery 31 in accordance with need, as monitored by the control system 35 .
  • the generator 33 preferably includes a system whereby the load can be dynamically changed to generate the optimum efficiency.
  • the generator is in effect a regenerative pump and when there is a large pressure differential across the regenerative pump, the load (battery charging intensity) can be set very high as there is a lot of energy available to operate the regenerative pump (i.e. it should be harder to operate it at high charging intensities than at low intensities). Conversely, at low pressure differentials, the charging intensity should be set to be low to enable the regenerative pump to still operate.
  • variable load regenerative pump should be able to dynamically alter the load characteristic depending on the constantly changing pressure differential between LP and the pressure in the sphere 5 during the mission. It will be appreciated that a microprocessor controlled control system 35 can do this.
  • the present invention can thus provide a buoyancy control system which can enable a buoyancy change of 34 kg at 6000 metres with a low power consumption (24V battery, 150 W electric motor). Moreover, the system is relatively lightweight and compact, which in turn allows it to be used as a “bolt-on” to existing underwater submersibles.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
US10/568,983 2003-08-22 2004-08-20 Buoyancy control system Abandoned US20070186837A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB0319812.4 2003-08-22
GBGB0319812.4A GB0319812D0 (en) 2003-08-22 2003-08-22 A bouyancy control system
PCT/GB2004/003592 WO2005019021A1 (en) 2003-08-22 2004-08-20 A buoyancy control system

Publications (1)

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US20070186837A1 true US20070186837A1 (en) 2007-08-16

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US10/568,983 Abandoned US20070186837A1 (en) 2003-08-22 2004-08-20 Buoyancy control system

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Country Link
US (1) US20070186837A1 (ru)
EP (1) EP1660368B1 (ru)
JP (1) JP2007503345A (ru)
CA (1) CA2536463A1 (ru)
DE (1) DE602004004283T2 (ru)
GB (1) GB0319812D0 (ru)
IS (1) IS8361A (ru)
NO (1) NO20061279L (ru)
RU (1) RU2006108113A (ru)
WO (1) WO2005019021A1 (ru)

Cited By (26)

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EP2073090A2 (de) * 2007-12-20 2009-06-24 Howaldtswerke-Deutsche Werft GmbH Gasventilanordnung
US20120113756A1 (en) * 2009-05-26 2012-05-10 Eni S.P.A. System for generating pressure waves in an underwater environment
US20120291689A1 (en) * 2011-01-10 2012-11-22 Goydin Nickolay Timofeevich Autonomous system for blowing ballast from fast dive tank of a submarine and method of blowing ballast
US20150047332A1 (en) * 2013-08-15 2015-02-19 Bae Systems Information And Electronic Systems Integration Inc. Hydrostatic energy recovery system and method
CN105197212A (zh) * 2015-10-16 2015-12-30 上海海洋大学 潜水器浮力调节系统
US9254902B2 (en) * 2014-02-11 2016-02-09 Mrv Systems, Llc Controlling buoyancy of an underwater vehicle using a dual-internal-reservoir configuration to enhance efficiency of inflating and deflating an external chamber
CN106143847A (zh) * 2016-07-29 2016-11-23 中国海洋大学 一种油液压浮力调节装置及方法
WO2016184474A1 (en) 2015-05-21 2016-11-24 Subcpartner A/S An underwater buoy installation system and kit, a method for assembling it, use thereof, and a method for installing a buoy
CN106218841A (zh) * 2016-07-29 2016-12-14 中国海洋大学 一种水液压浮力调节装置及方法
CN106477011A (zh) * 2016-12-09 2017-03-08 中国海洋大学 一种潜水器用浮力调节及压力补偿系统和方法
WO2018067738A1 (en) * 2016-10-04 2018-04-12 Open Water Power, Inc. Dynamic buoyancy control
US20190202571A1 (en) * 2018-01-04 2019-07-04 Goodrich Corporation Automatic retracting firing cable
CN109969365A (zh) * 2017-12-27 2019-07-05 中国科学院沈阳自动化研究所 一种具有液位检测功能的深海耐压舱
CN111348162A (zh) * 2018-12-24 2020-06-30 中国科学院沈阳自动化研究所 一种用于深海的模块化浮力调节装置
CN112960044A (zh) * 2021-02-02 2021-06-15 中国海洋大学 一种复合橇板式海底矿车行走装置
US11110999B1 (en) * 2018-06-08 2021-09-07 Shanghai Ocean University Buoyage for emergency communication and corresponding rescue method
CN114084324A (zh) * 2021-11-22 2022-02-25 浙江东溟科技有限公司 深海浮力调节装置
CN114313174A (zh) * 2021-11-30 2022-04-12 中国船舶重工集团公司第七一九研究所 超临界二氧化碳发电故障处理系统及无人潜航器
CN115009485A (zh) * 2022-05-30 2022-09-06 大连海事大学 一种玻璃耐压罩水下浮力调节系统
CN115320813A (zh) * 2022-08-18 2022-11-11 中国海洋大学 一种用于潜水器的油液压直驱浮力及重心调控系统和方法
US20230312069A1 (en) * 2022-04-04 2023-10-05 Impossible Metals Inc. Method and apparatus for a buoyancy vessel for deep-sea mining
RU2810006C1 (ru) * 2023-04-10 2023-12-21 Федеральное государственное казенное военное образовательное учреждение высшего образования "Военный учебно-научный центр Военно-Морского Флота "Военно-морская академия им. Адмирала Флота Советского Союза Н.Г. Кузнецова" Способ испытаний аварийного всплытия подводного технического средства
CN118004392A (zh) * 2024-04-09 2024-05-10 崂山国家实验室 一种适用于潜水器的浮力调节装置及实现方法
WO2024189429A1 (en) * 2023-03-16 2024-09-19 Dehlsen Associates Of The Pacific Limited Modular method for delivery of fresh water to coastal communities
US12097939B1 (en) 2019-09-12 2024-09-24 The United States Of America As Represented By The Secretary Of The Navy Field configurable vehicle having an integral bladder
CN120207564A (zh) * 2025-04-09 2025-06-27 中国船舶集团有限公司第七一九研究所 内置式压缩空气与二氧化碳联动的排水系统和航行器

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GB0921652D0 (en) * 2009-12-11 2010-01-27 Rolls Royce Plc Machine Buoyancy Control
DE102010047677B4 (de) 2010-10-06 2012-09-13 Bayern-Chemie Gesellschaft Für Flugchemische Antriebe Mbh Vorrichtung zum Bedrücken eines Auftriebstanks
NO336524B1 (no) * 2013-10-08 2015-09-21 Ikm Tech As Fremgangsmåte og anordning for å regulere stigekraft
CN104670444B (zh) * 2013-11-30 2017-03-15 中国科学院沈阳自动化研究所 一种用于自治水下航行器的单向浮力调节装置
US9797525B2 (en) * 2014-05-29 2017-10-24 Ecosse Subsea Systems, Ltd. Method of governing the elevation, attitude and structural integrity of a pressure-containing vessel in a body of liquid
DE102016003926B4 (de) 2016-03-31 2018-05-09 Bundesrepublik Deutschland, vertr. durch das Bundesministerium der Verteidigung, vertr. durch das Bundesamt für Ausrüstung, Informationstechnik und Nutzung der Bundeswehr Unterwasser-Messsonde
CN116477030B (zh) * 2023-04-07 2025-05-27 崂山国家实验室 水下航行器用浮力调节装置

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Cited By (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2073090A2 (de) * 2007-12-20 2009-06-24 Howaldtswerke-Deutsche Werft GmbH Gasventilanordnung
US20120113756A1 (en) * 2009-05-26 2012-05-10 Eni S.P.A. System for generating pressure waves in an underwater environment
US9733378B2 (en) * 2009-05-26 2017-08-15 Eni S.P.A. System for generating pressure waves in an underwater environment
US20120291689A1 (en) * 2011-01-10 2012-11-22 Goydin Nickolay Timofeevich Autonomous system for blowing ballast from fast dive tank of a submarine and method of blowing ballast
RU2748092C1 (ru) * 2011-01-10 2021-05-19 Николай Тимофеевич Гойдин Автономная система обеспечения сжатым воздухом цистерны быстрого погружения подводной лодки с целью продувания балласта независимо от общего запаса воздуха высокого давления и состояния общей системы
US20150047332A1 (en) * 2013-08-15 2015-02-19 Bae Systems Information And Electronic Systems Integration Inc. Hydrostatic energy recovery system and method
US9550554B2 (en) 2014-02-11 2017-01-24 Mrv Systems, Llc Controlling buoyancy of an underwater vehicle using a dual-internal-reservoir configuration to enhance efficiency of inflating and deflating an external chamber
US10000265B1 (en) 2014-02-11 2018-06-19 Mrv Systems, Llc Controlling buoyancy of an underwater vehicle using a dual-internal-reservoir configuration to enhance efficiency of inflating and deflating an external chamber
US9254902B2 (en) * 2014-02-11 2016-02-09 Mrv Systems, Llc Controlling buoyancy of an underwater vehicle using a dual-internal-reservoir configuration to enhance efficiency of inflating and deflating an external chamber
WO2016184474A1 (en) 2015-05-21 2016-11-24 Subcpartner A/S An underwater buoy installation system and kit, a method for assembling it, use thereof, and a method for installing a buoy
CN105197212A (zh) * 2015-10-16 2015-12-30 上海海洋大学 潜水器浮力调节系统
CN106218841A (zh) * 2016-07-29 2016-12-14 中国海洋大学 一种水液压浮力调节装置及方法
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EP1660368A1 (en) 2006-05-31
IS8361A (is) 2006-03-17
GB0319812D0 (en) 2003-09-24
WO2005019021A1 (en) 2005-03-03
DE602004004283T2 (de) 2007-10-25
RU2006108113A (ru) 2007-10-20
JP2007503345A (ja) 2007-02-22
DE602004004283D1 (de) 2007-02-22

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