Design And Motion Control Research Of Marine Fishery Environmental Monitoring System Based On Buoy Platform

With a total coastline of more than 32,000 km,China is rich in marine resources.How to develop marine agriculture,such as marine aquaculture and marine fishing,is a matter of national importance and livelihood;at the same time,under the changing world pattern and the increasing shortage of marine fishery resources,how to protect marine fishery resources more efficiently is also a problem that must be considered in the long term,and in this process,marine monitoring systems play an important part.In this paper,a buoy-based marine environmental monitoring system is designed around these needs.By carrying a variety of sensors,it can monitor the surface environment and realise the movement control of the buoy,and also monitor the underwater environment by both acoustic and magnetic means.The research is specifically focused on the following aspects:Firstly,according to the functional requirements of the buoy system,each subsystem was divided and designed,including the main control and sensing system,wireless communication system,underwater monitoring system,power management system and propulsion system,and the sensor modules or components of each part were selected,followed by building the hardware circuit of each system.Secondly,after determining the system hardware specifications and installation method,the mechanical structure of the buoy platform was designed.In this process,the miniaturization of the buoy structure and the requirement for the laying area of photovoltaic panels needed to be considered at the same time,and a balance was struck between the two technical conditions.After comprehensive consideration,the diameter of the buoy was finally set at 1.15 m with a cylindrical design,which can maintain a good working attitude in the water and achieve a simple design while also satisfying the laying of circuit modules in blocks.Each subsystem uniformly adopts a reliable waterproof structure to ensure the safety of the system.Subsequently,a set of communication protocols is designed around the information interaction needs within the buoy body and between the buoy and the shore station to ensure that the system still operates in an orderly manner during the transmission of large data volumes.Moreover,the design of the frequency of data acquisition and forwarding of each component was carried out according to the design specifications of small marine buoys.The components with high power consumption are controlled by switching them through relays according to the designed strategy.The above design requirements are combined in the process of program writing,and the data acquisition and processing of each component are combined to form the software design of the system.Again,the development of the movable buoy platform is explored from theory to practice,first analogous to the motion process of a ship,the buoy is analyzed mechanically in pieces according to the MMG modeling principle,the fluid forces and moments of inertia are analyzed,and the system functions of the mobile buoy navigation control are obtained from the whole to the parts,and then back to the whole after the verification of the buoy parameters.The fuzzy PID controller is designed and compared with the effect of traditional PID control on Matlab/Simulink platform,and more satisfactory results are achieved.Finally,the test results of the three major functions of the system,including surface sensing,underwater monitoring and low-power operation,are given.The results show that: the monitoring process of the whole system can be fully realized,and the system data link is smooth and can interact and operate normally;the low-power strategy of the system has achieved initial success,proving that the system can maintain normal endurance under extreme weather for 20 consecutive days,and after specific energy consumption accounting,it can ideally The underwater monitoring module has achieved the expected results through the joint sea test with the cooperative unit,proving that the underwater noise with an intensity of 160 d B can be monitored at 15 km away.It has certain application and promotion value.