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An AUV is designed to perform water pollution infestation task in Songhua Lake, the biggest lake in the north of china, due to severe pollution accidents occurred in recent years. In order to extend duration to 10-15 hours, three groups VRLA batteries are employed, ensures the routine patrol line to 26Km. This paper described the AUV power arrangement optimization: internal resistance, temperature and terminal voltage online and in real-time measurement. Batteries group is charged under voltage monitoring and temperature compensation, the invalidation battery cell will be found and changed in the charging process. According to the correlation between internal resistance and residual capacity, remaining energy can be predicted by tasting the internal resistance online in discharge process. Backup battery will take up the AUV power supply in emergent situation, the AUV will surface automatically while lost the main power, and a balloon will be send out to increase floating force and indicate the location. If the AUV is wrapped by deadly fishing net in the deep water, the self-rescue ring will explode, and separate the expensive payload and electronics tube from the body, floating to surface with balloon. Multi-methods are adopted to ensure the AUV safety in patrol tasks.
Control Conference (CCC), 2010 29th Chinese
Date of Conference: 29-31 July 2010