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美国斯克里普斯海洋研究所的海洋物理研究馆(MPL/SIO)购买了一艘由蓝鳍机器人公司生产的奥德赛(Odyssey)Ⅱb中型AUV用于水声研究以及作为其他的研究接收平台。MPI/SIO的研究人员将奥德赛Ⅱb AUV原来的尾翼替换为一个矢量推进的导管式尾翼。利用安装了新型尾翼的奥德赛Ⅱb AUV进行海试时,研究人员发现AUV的自噪声比典型的海洋环境噪声高20~50 dB,因此不能用作低声源级的接收平台。为了描述AUV推进器及驱动装置的辐射噪声和振动噪声,研究人员随后开展了海试,并对奥德赛Ⅱb AUV尾翼的圆锥形推进器进行了改进,从而降低了航行器的自噪声。尾翼改进之后,利用安装在AUV内罩中的水听器进行测量可知,带宽为0.01~10 kHz时,航行器的自噪声等于或低于典型的浅水环境噪声。本文旨在对AUV尾翼的改进情况及尾翼改进对降低自噪声的效果进行描述。
The MPL / SIO at the Scripps Institution of Oceanography purchased an Odyssey IIb medium-sized AUV, manufactured by Bluefin Robotics, for use in underwater acoustic research and as a research reception platform. Researchers at MPI / SIO replaced the original tail of the Odyssey IIb AUV with a vector-propelled catheter tail. Using the Odyssey IIb AUV with the new tail fitted for sea trials, the researchers found that the AUV’s self-noise is 20 to 50 dB higher than the typical marine ambient noise and therefore can not be used as a low-sound-level receiving platform. To characterize the radiated noise and vibrational noise of AUV thrusters and drives, the researchers then conducted sea trials and improved conical thrusters on the Odyssey IIb AUV tail to reduce the aircraft’s self-noise. After the improvement of the empennage, measurements using a hydrophone mounted in an AUV hood revealed that the aircraft’s self-noise is at or below typical shallow ambient noise at 0.01-10 kHz bandwidth. This article aims to describe the improvements made to the AUV tail and the improvements made to the tail to reduce the effect of self-noise.