Research On Semi-Physical Simulation Device Of Self-Supporting Buoy Buoyancy Driving System

The self-supporting profile buoy is an important underwater detection equipment,which realizes its own ups and downs in the ocean by means of hydraulic buoyancy drive.After the prototype is developed,its reliability and stability need to be further verified.However,although a large number of sea trials can continuously improve its reliability,the optimization efficiency is low,and it takes up manpower and material resources,and the sea trial costs are high,and it is easy to cause equipment loss.Therefore,it is particularly important to conduct sufficient pressure simulation experiments on the self-sustained profile buoy before sea trials.At present,most simulation experiment platforms belong to simulation cabins of high pressure vessels.Such equipment is not only expensive,but also mainly used to test the pressure-bearing capacity of the equipment cabin.In order to conduct a complete profile motion test on the self-supporting profile buoy buoyancy drive system,it is necessary to track the changing pressure value calculated by the buoy dynamic model in real time,but the existing high-pressure vessel simulation cabins cannot meet the test requirements.Therefore,the overall design goal of this article is to design a pressure change device that can simulate different depths in different sea environments.According to the CTD data of different sea areas and the dynamic model of the buoy,we obtain the pressure change of the buoy at different depths.Due to the pressure change,the outer oil sac is deformed,which changes the oil discharge of the buoy,thereby changing itself Buoyancy,based on this feature,the semi-physical simulation device designed in this paper uses a hydraulic system to achieve specific functions.According to the overall structure of the self-supporting profile buoy buoyancy drive system,a high-pressure semi-physical simulation device is designed.The device can introduce the CTD parameters of different sea areas,calculate the dynamic model of the buoy according to the temperature,density and other parameters of the underwater environment,combined with the change of the oil volume of the buoy,output the section motion parameters of the buoy in real time,and draw the complete section of the buoy Motion parameter curve.The pressure output port of the semiphysical simulation device is connected with the outer oil bag interface of the buoy buoyancy driving system,and it tracks the pressure data of the buoy’s profile motion parameters,so that the pressure of the buoy buoyancy driving system changes with the pressure value,simulating the underwater movement of the buoy The pressure change at the time has realized the profile motion experiment approaching the marine environment in the laboratory,which improves the efficiency of research and development and testing,and reduces the cost of sea trials.The main research content of this article includes the following aspects:According to the overall functional requirements and overall design goals of the system,the parameters of hydraulic components are calculated and a semi-physical simulation device is constructed.By analyzing the mathematical model of the system,the closed-loop transfer function of the system with the current signal of the control servo valve as input and hydraulic cylinder pressure as output is obtained,and the feasibility of the system is verified by Simulink software simulation.Through Simulink software simulation,the stability of system output pressure and the rapidity of response are further studied,and traditional PID and fuzzy PID control strategies are used to simulate and analyze the system output pressure of the semiphysical simulation device.Under the adjustment of traditional PID,the pressure tracking effect of the semi-physical simulation device is not ideal,so the fuzzy controller is introduced to adjust the PID parameters in real time,and the pressure tracking effect of the fuzzy controller is verified.Simulink simulation results show that after the introduction of fuzzy PID correction network,the system’s dynamic performance indicators are better than traditional PID control algorithms.The physical model of the semi-physical pressure simulation device was built based on the AMESim software,and the model of the buoy buoyancy driving system was added to verify the tracking effect of the system.The simulation results show that the tracking error of the system is within 0.01 MPa,and the pressure tracking effect of the semi-physical simulation device has reached the expected use and meets the requirements of experimental testing.In the semi-physical simulation device,the constant pressure pressure tracking and the buoy prototype profile movement test were carried out to obtain the pressure tracking curve and the profile movement parameter curve.The experimental results show that the pressure tracking results are basically consistent with the AMESim simulation results,and the tracking error is within0.05 MPa.The semi-physical simulation device provides strong support for buoy performance optimization,reliability testing and genealogicalization.