Dynamic Modeling, Analysis, and Testing of a Variable Buoyancy System for Unmanned Multidomain Vehicles

This paper presents the system design and dynamic model of an active variable buoyancy system (VBS) actuator with applications to unmanned multidomain vehicles. Unmanned multidomain vehicles have a unique concept of operations that require nontraditional VBS designs. We present a VBS actuator design that focuses on vehicle design objectives of high endurance, stealth, and loitering while underwater. The design consists of an elastic bladder housed within a rigid ballast tank, hydraulic pump, and proportionally controlled vent valve. Ambient surrounding water is the system working fluid and the elastic bladder serves to separate the gas-water interface, eliminating the risk of the compressed gas escaping when venting the water during extreme pitch maneuvers. A nonlinear analytic model of the VBS is derived and used to examine the parameter design space and the effects on water flow rate, actuation force, and energy efficiency. The VBS actuator design is shown to require a smaller, denser energy storage device than a comparable buoyancy system that uses consumable compressed air. A vehicle model is studied that features forward and aft VBS actuators, which enables vehicle pitch control by shifting the center of gravity along the vehicle's longitudinal axis. The coupling between the VBS actuator dynamics and vehicle dynamics is presented and discussed. A proof-of-concept demonstration is presented and compared to the analytical system model.