Research On The Structure And Control System Design And The Depth Control Strategy For Deep Sea Profiling Buoy

More than seventy percent of the earth's surface is covered by the ocean,which contains various resources.The marine monitoring system is an essential way for human beings to understand,explore and monitor the ocean.It's of great significance for human beings to develop and utilize the ocean,accelerate marine scientific research and reduce the losses of ocean natural disasters.As an important part of the marine monitoring system,the deep sea self-holding profile buoy can realize automatic monitoring throughout day and night.It makes continuous and long-term observation of the global ocean possible.Since China joined the implementation of the Array for Real-time Geostrophic Oceanography,the self-holding profile buoys have been continuously developed,but there is still a gap compared with foreign products.The gap is mainly reflected in the insufficient running depth of the buoy,the insufficient profiles of the buoy is and the deprivation of research on the depth control strategy.In this paper,the structure and control system is designed,and the depth control strategy for deep sea self-holding profiling buoy is studied.The main works are as follows:Firstly,the mechanical structure and control system of the deep sea 4000 meters self-holding profile buoy is designed.The prototype modifies the density by the buoyancy regulating system to achieve the profile movement of the buoy.By carrying out relevant tests in a certain sea area of the South China Sea,the prototype can achieve 3550 meters of profile movement.The experiments verify the correctness of the design of the deep sea self-holding profile,and it provides a reference for the establishment of kinetic model..Secondly,according to the buoyancy regulating system of the buoy,the motion process of the deep sea self-holding profile buoy is analyzed.Considering the non-uniform variation of seawater density,the nonlinear kinetic model of the profile buoy is established,which lays foundation for the studying of depth control strategy.At last,in view of the nonlinear and strong coupling characteristics of the model of the deep sea self-holding profile buoy,a fuzzy PID depth control strategy based on dual closed-loop is proposed in the article.A fuzzy PID control strategy is proposed for the outer loop depth feedback loop and the inner loop speed feedback loop.Simulation results demonstrate that the dual closed-loop fuzzy PID depth control strategy is better than the traditional PID deep-depth control strategy.Besides the system has a small overshoot,quick speed of regulation,and high steady state accuracy and anti-interference ability.