| 摘要 |
PURPOSE: A method for controlling a floating device of an underwater vehicle having negative buoyancy is provided to safely collect an underwater vehicle even if the underwater vehicle has not done training scenarios and a floating device is not normally operated. CONSTITUTION: A method for controlling a floating device of an underwater vehicle having negative buoyancy is as follows. If an underwater vehicle is launched, a propelling motor of the underwater vehicle is driven to operate the underwater vehicle according to training scenarios(S1). If the underwater vehicle has done the training scenario, a system determines a normal traveling state and the underwater vehicles moves to safe water level(S2). Operation signal delivers a recording controller assembly of a practice warhead controller to a floating device controller(S3). A floating gas bag of a floating gas bag assembly is deployed by the floating device controller and provides positive buoyancy to the underwater vehicle, thereby the underwater vehicle is floated(S4). If the underwater vehicles could not complete the training scenario, the system determines an abnormal state, thus, the operation signal is applied to the floating device controller by an internal circuit of the floating device(SA).
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