| Summary: | 碩士 === 國立成功大學 === 系統及船舶機電工程學系碩博士班 === 95 === The main purpose of this thesis is to establish an pitch adjustable system for downstream underwater vehicle (UV),the UV use compression air for float up, to avoid loss float up power by electric power loss. The UV system includes the following subsystem: buoyancy control system, measurement system, pitch adjustable system, GPS system, GSM system, Control system and pressure hull. Design pressure hull that sustains outer pressure from ocean without breaking, collect references of pressure hull, to decide size of hull, and do the experiment for proof hull is safe with sustain the design pressure. Change buoyancy for floating up and sinking down, the change buoyancy is 500 g(it’s about 1.6% of UV). Measurement include pressure sensor and inclinometer, pressure sensor used for outer water pressure and the compression air pressure, compression air be saved in independent hull, to avoid loss the power of floating up. Inclinometer used for control the pitch angle by setting the position of object of setting pitch. If the UV float up to the surface, it will catch the position data by GPS system, then send the data back by GSM system. The controller is WinCon system that a kind of embedded system, it’s a programmable automation controller, catching analog data by analog input controller and sending digital data by digital output controller. Controlling AI controller, DIO controller, GPS and GSM system by main controller. The major work is to establish a model of low power spend for UV, proof setting center of gravity to control pitch angle and used compression air to be the power of float up is work, the result provide to refer for relation researching.
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