深海压力适应型水下机器人压力补偿技术

针对深海水下机器人在高达60MPa的外界环境压力下工作效率低下、可靠性较差等问题，研究了一种弹簧活塞式压力补偿器的结构，可以使得工作在深海的电液控制系统与环境压力自动平衡。在此基础上，对该补偿器进行了相应的静态特性和动态特性的仿真分析。结果表明，在保证储存的补偿流量足够的前提下，该补偿器具有较快的动态频响，并能始终保证系统内部补偿压力略高于外界环境压力，大幅度提高了电液控制系统在深海作业的总体效率及对不同工作水深的适应性，确保了系统的可靠抗压密封。

Deep-sea pressure adaptive compensation technique for underwater robots

Considering the rough condition of the special working circumstance, how to realize the pressure-resist and seal of the components is the key point for the development of the deep-sea hydraulic robots. In order to enhance the work efficiency and system reliability, a novel hydraulic system with the automated outer-inner pressure balanced technique based on the known technique of the balanced compensation directly to the hydraulic source was presented. A special design of the compensator unit was put forward to provide compensation for the whole electro-hydraulic control system, which can insure that the inner compensated pressure is always a little bit higher than the outer environmental pressure to prevent seawater from entering through a leak. The performances are evaluated through the static and dynamic simulations.