The Low Power Consumption Control Method Research On Portable Profiler

The profiler is an important platform for marine detection and exploration.With the advantages of long depth range,low noise,good concealment performance in working,it has high application value in ocean environment monitoring and military reconnaissance,etc.As a one-time electric energy driven underwater vehicle,prolonging the work life of profiler plays great significant role in improving its application.At present,the most effective way is to reduce the power consumption of the control system.In order to reduce the power consumption of the control system,this dissertation,based on the construction of the control system and the work mode,structurally analyzes the power consumption character of the control system.And the control strategies are promoted from the following three aspects:the system level,the module level,the component level.The research content involves in integrating hardware circuits,constructing the control models,designing the algorithms and programming the codes in a low power consumption way.On that basis,the related experiments were carried out with the portable small profiler prototype in the laboratory.The result verified the validity of the low power consumption control method.The main research contents in this dissertation are as follows:Develop the low power control system platform.In the hardware aspect,the highly integrated dynamic power management control circuit with low power consumption was developed based on the modular design concept.In the software aspect,the related function control codes was programmed.It realized the function of data sampling,energy management,CAN communication,and the driving of the step motor,etc.After many times of experiments and debugging,the stability and reality of the control system were ensured.Construct the low power control model of depth task.Based on the classical theory of kinematics,the buoyancy adjusting module,the profiler kinematics model and the boundary PD control model were constructed respectively in Matlab/Simulink simulation platform.By simulating the model and setting different parameters,the dynamic response influence and power consumption were analyzed.Design the low power consumption control algorithm.Based on the function module and work mode of the profiler,the characters of the power consumption in the control system were comprehensively analyzed.The control system was divided into three level:the system level,modules level and components level.For the key issue of each level,three low power consumption algorithms were proposed respectively,which includes the dynamic power management algorithm of control system,the boundary PD control algorithm of buoyancy adjusting module,the boundary curve control algorithm of step motor.Verify the low power consumption control effect.On the basis of the hardware,software and algorithms mentioned above,the related experiments were conducted with the portable small profiler in the laboratory.The experiment fully validated the reliability of the control system,the accuracy of the model and the effectiveness of the low power control algorithm.Based on the research of the low power control methods in portable small profiler,it laid a foundation for the further theoretical research and wide application in the big profiler.