CN110244598A - A kind of sink-float profile buoy control circuit and control method certainly - Google Patents
A kind of sink-float profile buoy control circuit and control method certainly Download PDFInfo
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- CN110244598A CN110244598A CN201910388709.6A CN201910388709A CN110244598A CN 110244598 A CN110244598 A CN 110244598A CN 201910388709 A CN201910388709 A CN 201910388709A CN 110244598 A CN110244598 A CN 110244598A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
The invention discloses a kind of from sink-float profile buoy control circuit and control method, mainly including governor circuit etc., governor circuit is control axis, electric power management circuit carries out upper electric control to each function module circuit, piston pump motor driving circuit drives piston pump motor to realize profile buoy dive and floating, and horizontal displacement correction module circuit receives electronic compass signal and Beidou positioning signal to drive horizontal displacement amendment motor to realize that profile buoy advances and heaving of the sea formula moves.The present invention is on the basis of control profile buoy does circulating up and down motion, moreover it is possible to control profile buoy and complete protrusive, heaving of the sea formula movement, can carry out tracking observation to specified sea areas for a long time；It is combined using piston pump motor driving and horizontal displacement correction module circuit, the control of dive and floating movement to profile buoy is more flexible, and profile buoy is allowed to carry out long-term follow observation to specified sea areas.
Description
Technical field
The present invention relates to the fields for the profile buoy control circuit that rises and falls certainly, and in particular to a kind of to control from sink-float profile buoy
Circuit and control method.
Background technique
Traditional oceanographic observation, usually height rely on mobile pier (such as research vessel and buoy) and fix underwater
Platform (such as subsurface buoy)；And be observed using satellite or aircraft, ocean surface information can only be but obtained, and water body can not be penetrated and obtained
Take underwater information.It is the innovative techniques to grow up at the end of the 20th century from sink-float profile buoy, it grows global ocean under water
Phase, continuous observation are possibly realized, and have become the important means for obtaining global Real-Time Ocean environment profile information.
From in sink-float profile buoy composition, control circuit plays important role.Control circuit is mainly used for controlling
From sink-float profile buoy above and below rise and fall, it be influence from sink-float profile buoy can reliably working one of key factor.According to
Known to open source information, the sink-float profile buoy certainly developed at present, the control function of control circuit is relatively simple, cuts open from sink-float
Face buoy can only do circulating Vertical Observation up and down, and due to the promotion of ocean current, profile buoy can only drift with the tide, thus cannot
Long-term follow observation is carried out to specified sea areas.
Summary of the invention
It is an object of the invention to overcome the shortcomings of the prior art, and provide a kind of from sink-float profile buoy control electricity
Road and control method.
The object of the present invention is achieved by the following technical solutions: it is this from sink-float profile buoy control circuit, it is main
It to include governor circuit, electric power management circuit, piston pump motor driving circuit, horizontal displacement correction module circuit, governor circuit
It is control axis and is mainly responsible for beidou mobile terminal communication, depth acquisition, plunger pump displacement acquisition and horizontal displacement amendment mould
Block circuit communication, electric power management circuit carry out upper electric control to each function module circuit, and piston pump motor driving circuit drives column
It fills in pump motor and realizes profile buoy dive and floating, horizontal displacement correction module circuit receives electronic compass signal and Beidou positioning
Signal is to drive horizontal displacement amendment motor to realize that profile buoy advances and heaving of the sea formula moves, profile buoy control circuit master
Want the power supply on interactive controlling periphery, beidou mobile terminal, depth transducer, plunger pump displacement sensor, piston pump motor,
It is axially moved motor, roll motion motor, electronic compass.
The electric power management circuit mainly includes 12V electric power management circuit, 21V electric power management circuit, 24V power management electricity
Road, 48V electric power management circuit, 12V electric power management circuit include the first MCU, the first optocoupler, the first PMOS tube, first diode,
21V electric power management circuit includes the first MCU, the second optocoupler, the second PMOS tube, the second diode, and 24V electric power management circuit includes
First MCU, third optocoupler, third PMOS tube, third diode, 48V electric power management circuit include the first MCU, the 4th optocoupler, the
Four PMOS tube, the 4th diode, the first MCU are port controlling, and each optocoupler is signal isolation, and each PMOS tube, which is used as, to be switched, each two
Pole pipe is anti-reverse protection.
The 12V electric power management circuit includes the 12V lithium battery that system provides, and after powering on, the first MCU controls the first optocoupler
Conducting, and then the conducting of the first PMOS tube is driven, so that 12V lithium battery is depth transducer power supply.
The 21V electric power management circuit includes the 21V lithium battery that system provides, when profile buoy needs to receive Beidou positioning
When signal, the first MCU controls the conducting of the second optocoupler, and then drives the conducting of the second PMOS tube, so that 21V lithium battery is mobile for Beidou
Terminal power supply.
The 24V electric power management circuit includes the 24V lithium battery that system provides, when profile buoy needs to be implemented advance or wave
When unrestrained rise and fall, the first MCU controls the conducting of third optocoupler, and then drives the conducting of third PMOS tube, so that 24V lithium battery is water
Prosposition moves the power supply of correction module circuit.
The 48V electric power management circuit include system provide 48V lithium battery, when profile buoy need to be implemented dive or on
When floating is made, the first MCU controls the conducting of the 4th optocoupler, and then drives the conducting of the 4th PMOS tube, so that 48V lithium battery is plunger pump
Motor-drive circuit power supply.
The piston pump motor driving circuit includes the first MCU, the 5th optocoupler, first motor driver, and the first MCU is end
Mouth control, the 5th optocoupler are signal isolation, and first motor driver drives piston pump motor.
The horizontal displacement correction module circuit include the 2nd MCU, the 6th optocoupler, the 7th optocoupler, the second motor driver,
Third motor driver, the 2nd MCU are port controlling, and the 6th optocoupler and the 7th optocoupler are signal isolation, the second motor driver
Driving axial motion motor, third motor driver drive roll motion motor.
This sink-float profile buoy control method certainly, mainly comprises the steps that
1) the first MCU is powered on and initialized, and control beidou mobile terminal powers on, and obtains floating profile buoy self poisoning information,
And initial alignment point is set by the location information；
2) the first MCU controls piston pump motor driving circuit and powers on, and controls profile buoy dive, when profile buoy dive
To after designated depth, its suspension is controlled；
3) after working time, the first MCU control piston pump motor driving circuit is powered on, and control profile buoy floats,
After profile buoy floats up to the water surface, the first MCU control beidou mobile terminal is powered on, and obtains floating profile buoy self poisoning information,
And EXIT POINT is set by the location information, to complete first profile survey；
4) then start second profile survey, the first MCU control piston pump motor driving circuit powers on, and controls section
Buoy dive controls its suspension after profile buoy dive is to designated depth；
5) after working time, the first MCU control piston pump motor driving circuit is powered on, and control profile buoy floats,
The first MCU controlled level displacement correction modular circuit powers on simultaneously, and the 2nd MCU power-up initializing receives the first of the first MCU transmission
The location information of beginning anchor point and last EXIT POINT, while electronic compass azimuth information is received, the 2nd MCU is according to location information
With compass azimuth information, controls axial direction motion motor, that is, Motor2 and move up and down, thus change the floating pitch angle of profile buoy,
It is mobile to control roll motion motor, that is, Motor3 or so circumference, to change the yaw angle of profile buoy, so that profile buoy court
Initial alignment point does advance and the movement of heaving of the sea formula；
6) after profile buoy floats up to the water surface, the power-off of the first MCU controlled level displacement correction modular circuit, then control is northern
Bucket mobile terminal powers on, and profile buoy self poisoning information is obtained, and set new EXIT POINT for the location information, thus complete
At second profile survey；
7) it so recycles, until completing the profile survey of setting.
The invention has the benefit that this invention removes existing profile buoy can only do circulating Vertical Observation fortune up and down
Limitation that is dynamic and drifting with the tide, on the basis of control profile buoy does circulating up and down motion, moreover it is possible to control profile buoy
Protrusive, heaving of the sea formula movement is completed, tracking observation can be carried out to specified sea areas for a long time；It is driven using piston pump motor
It is combined with horizontal displacement correction module circuit, the control of dive and floating movement to profile buoy is more flexible, so that cuing open
Face buoy can carry out long-term follow observation to specified sea areas；Application belongs to pioneering at home, has completed sea test and has received, technology is
Through being formed, there is important facilitation to the progress of marine information Detection Techniques.
Detailed description of the invention
Fig. 1 is application composition block diagram of the invention.
Fig. 2 is composition block diagram of the invention.
Fig. 3 is power management circuit schematic diagram of the invention.
Fig. 4 is piston pump motor driver circuit schematic diagram of the invention.
Fig. 5 is horizontal displacement correction module circuit diagram of the invention.
Fig. 6 is control flow chart of the invention.
Specific embodiment
Below in conjunction with attached drawing, the present invention will be described in detail:
Embodiment: it is as shown in the picture, this from sink-float profile buoy control circuit, it mainly include governor circuit, power supply pipe
Circuit, piston pump motor driving circuit, horizontal displacement correction module circuit are managed, governor circuit is control axis and is mainly responsible for north
Struggle against communication of mobile terminal, depth acquisition, plunger pump displacement acquisition and horizontal displacement correction module circuit communication, power management electricity
Road carries out upper electric control to each function module circuit, and piston pump motor driving circuit drives piston pump motor, that is, Motor1, realizes
Profile buoy dive and floating, horizontal displacement correction module circuit receive electronic compass signal and Beidou positioning signal to drive water
Flat displacement correction motor realizes that profile buoy advances and the movement of heaving of the sea formula, the main interactive controlling of profile buoy control circuit are all
Power supply, beidou mobile terminal, depth transducer, plunger pump displacement sensor, the piston pump motor, that is, Motor1, axial direction on side
Motion motor, that is, Motor2, roll motion motor, that is, Motor3, electronic compass.
Electric power management circuit mainly include 12V electric power management circuit, 21V electric power management circuit, 24V electric power management circuit,
48V electric power management circuit, 12V electric power management circuit include the first MCU, the first optocoupler, the first PMOS tube, first diode, 21V
Electric power management circuit includes the first MCU, the second optocoupler, the second PMOS tube, the second diode, and 24V electric power management circuit wraps
The first MCU, third optocoupler, third PMOS tube, third diode are included, 48V electric power management circuit includes the first MCU, the 4th light
Coupling, the 4th PMOS tube, the 4th diode, the first MCU are port controlling, and each optocoupler is signal isolation, and each PMOS tube is used as switch,
Each diode is anti-reverse protection.12V electric power management circuit includes the 12V lithium battery that system provides, after powering on, the first MCU control
The conducting of the first optocoupler is made, and then drives the conducting of the first PMOS tube, so that 12V lithium battery is depth transducer power supply.21V power supply pipe
Reason circuit includes the 21V lithium battery that system provides, when profile buoy needs to receive Beidou positioning signal, the first MCU control the
The conducting of two optocouplers, and then the conducting of the second PMOS tube is driven, so that 21V lithium battery is beidou mobile terminal power supply.24V power management
Circuit includes the 24V lithium battery that system provides, when profile buoy needs to be implemented advance or heaving of the sea acts, the first MCU control
Third optocoupler conducting processed, and then the conducting of third PMOS tube is driven, so that 24V lithium battery is the confession of horizontal displacement correction module circuit
Electricity.48V electric power management circuit includes the 48V lithium battery that system provides, when profile buoy needs to be implemented dive or floating acts,
First MCU controls the conducting of the 4th optocoupler, and then drives the conducting of the 4th PMOS tube, so that 48V lithium battery is piston pump motor driving
Circuit power supply.
Piston pump motor driving circuit includes the first MCU, the 5th optocoupler, first motor driver, and the first MCU is port control
System, the 5th optocoupler are signal isolation, and first motor driver drives piston pump motor, that is, Motor1.GND2 in attached drawing 4 is indicated
48V lithium battery power ground.
Horizontal displacement correction module circuit includes the 2nd MCU, the 6th optocoupler, the 7th optocoupler, the second motor driver, third
Motor driver, the 2nd MCU are port controlling, and the 6th optocoupler and the 7th optocoupler are signal isolation, the driving of the second motor driver
It is axially moved motor, that is, Motor2, third motor driver drives roll motion motor, that is, Motor3.GND3 table in schematic diagram
Show 24V lithium battery power ground.
This sink-float profile buoy control method certainly, mainly comprises the steps that
1) the first MCU is powered on and initialized, and control beidou mobile terminal powers on, and obtains floating profile buoy self poisoning information,
And initial alignment point is set by the location information；
2) the first MCU controls piston pump motor driving circuit and powers on, and controls profile buoy dive, when profile buoy dive
To after designated depth, its suspension is controlled；
3) after working time, the first MCU control piston pump motor driving circuit is powered on, and control profile buoy floats,
After profile buoy floats up to the water surface, the first MCU control beidou mobile terminal is powered on, and obtains floating profile buoy self poisoning information,
And EXIT POINT is set by the location information, to complete first profile survey；
4) then start second profile survey, the first MCU control piston pump motor driving circuit powers on, and controls section
Buoy dive controls its suspension after profile buoy dive is to designated depth；
5) after working time, the first MCU control piston pump motor driving circuit is powered on, and control profile buoy floats,
The first MCU controlled level displacement correction modular circuit powers on simultaneously, and the 2nd MCU power-up initializing receives the first of the first MCU transmission
The location information of beginning anchor point and last EXIT POINT, while electronic compass azimuth information is received, the 2nd MCU is according to location information
With compass azimuth information, controls axial direction motion motor, that is, Motor2 and move up and down, thus change the floating pitch angle of profile buoy,
It is mobile to control roll motion motor, that is, Motor3 or so circumference, to change the yaw angle of profile buoy, so that profile buoy court
Initial alignment point does advance and the movement of heaving of the sea formula；
6) after profile buoy floats up to the water surface, the power-off of the first MCU controlled level displacement correction modular circuit, then control is northern
Bucket mobile terminal powers on, and profile buoy self poisoning information is obtained, and set new EXIT POINT for the location information, thus complete
At second profile survey；
7) it so recycles, until completing the profile survey of setting.
Specific work process of the present invention:
As shown in Fig. 4, piston pump motor, that is, Motor1 is rotated forward: when profile buoy will execute dive, the first MCU passes through
Port I/O5 output frequency is the driving signal of 25KHz, duty ratio greater than 50%, which send first to the 5th optocoupler,
It is sent after light-coupled isolation again to the Input pin of first motor driver, first motor driver is defeated by Aout, Bout pin
Power signal driving motor Motor1 is rotated forward out；Piston pump motor, that is, Motor1 reversion: when profile buoy will execute floating, the
One MCU by port I/O5 output frequency be 25KHz, driving signal of the duty ratio less than 50%, the driving signal send first to
5th optocoupler, then send after light-coupled isolation to the Input pin of first motor driver, first motor driver by Aout,
Bout pin output power signal drive motor Motor1 reversion.
As shown in Fig. 5, motor, that is, Motor2 is axially moved to rotate forward: when profile buoy will execute moved axially upward,
2nd MCU is 25KHz by port I/O1 output frequency, and duty ratio is greater than 50% driving signal, which send first
It send to the 6th optocoupler, then after light-coupled isolation to the Input pin of the second motor driver, the second motor driver passes through
Aout, Bout pin output power signal driving axial motion motor, that is, Motor2 are rotated forward；It is anti-to be axially moved motor, that is, Motor2
Turn: when profile buoy will execute axial downward movement, the 2nd MCU is 25KHz by port I/O2 output frequency, and duty ratio is small
In 50% driving signal, which is sent first to the 6th optocoupler, then is sent after light-coupled isolation to the second motor driver
Input pin, the second motor driver is by Aout, Bout pin output power signal driving axial motion motor
Motor2 reversion；Roll motion motor, that is, Motor3 is rotated forward: when profile buoy, which will execute roll, to be moved downward, the 2nd MCU is logical
Crossing port I/O2 output frequency is 25KHz, and duty ratio is greater than 50% driving signal, which send first to the 7th light
Coupling, then give after light-coupled isolation to the Input pin of third motor driver, third motor driver is drawn by Aout, Bout
Foot output power signal drives roll motion motor, that is, Motor3 to rotate forward；Roll motion motor, that is, Motor3 reversion: when section is floating
When mark will execute roll and move right, the 2nd MCU is 25KHz, drive of the duty ratio less than 50% by port I/O2 output frequency
Dynamic signal, which send first to the 7th optocoupler, then send the Input to third motor driver to draw after light-coupled isolation
Foot, third motor driver drive roll motion motor, that is, Motor3 reversion by Aout, Bout pin output power signal.
It is understood that it will be understood by those skilled in the art that being subject to technical solution of the present invention and inventive concept
It all should fall within the scope of protection of the appended claims of the present invention with replacement or change.
Claims (9)
1. a kind of from sink-float profile buoy control circuit, it is characterised in that: mainly include governor circuit, electric power management circuit, column
Pump motor driving circuit, horizontal displacement correction module circuit are filled in, governor circuit is control axis and is mainly responsible for Beidou movement eventually
Communication, depth acquisition, plunger pump displacement acquisition and horizontal displacement correction module circuit communication are held, electric power management circuit is to each function
Can modular circuit carry out electric control, piston pump motor driving circuit drives piston pump motor to realize profile buoy dive and upper
Floating, horizontal displacement correction module circuit receives electronic compass signal and Beidou positioning signal to drive horizontal displacement amendment motor real
Existing profile buoy advances and the movement of heaving of the sea formula, the power supply on the main interactive controlling periphery of profile buoy control circuit, north
Struggle against mobile terminal, depth transducer, plunger pump displacement sensor, piston pump motor, be axially moved motor, roll motion motor,
Electronic compass.
2. according to claim 1 from sink-float profile buoy control circuit, it is characterised in that: the electric power management circuit master
It to include 12V electric power management circuit, 21V electric power management circuit, 24V electric power management circuit, 48V electric power management circuit, 12V power supply
Managing circuit includes the first MCU, the first optocoupler, the first PMOS tube, first diode, and 21V electric power management circuit includes first
MCU, the second optocoupler, the second PMOS tube, the second diode, 24V electric power management circuit include the first MCU, third optocoupler, third
PMOS tube, third diode, 48V electric power management circuit include the first MCU, the 4th optocoupler, the 4th PMOS tube, the 4th diode,
First MCU is port controlling, and each optocoupler is signal isolation, and for each PMOS tube as switch, each diode is anti-reverse protection.
3. according to claim 2 from sink-float profile buoy control circuit, it is characterised in that: the 12V power management electricity
Road includes the 12V lithium battery that system provides, and after powering on, the first MCU controls the conducting of the first optocoupler, and then the first PMOS tube is driven to lead
It is logical, so that 12V lithium battery is depth transducer power supply.
4. according to claim 2 from sink-float profile buoy control circuit, it is characterised in that: the 21V power management electricity
Road includes the 21V lithium battery that system provides, and when profile buoy needs to receive Beidou positioning signal, the first MCU controls the second light
Coupling conducting, and then the conducting of the second PMOS tube is driven, so that 21V lithium battery is beidou mobile terminal power supply.
5. according to claim 2 from sink-float profile buoy control circuit, it is characterised in that: the 24V power management electricity
Road includes the 24V lithium battery that system provides, when profile buoy needs to be implemented advance or heaving of the sea acts, the first MCU control
The conducting of third optocoupler, and then the conducting of third PMOS tube is driven, so that 24V lithium battery is the power supply of horizontal displacement correction module circuit.
6. according to claim 2 from sink-float profile buoy control circuit, it is characterised in that: the 48V power management electricity
Road includes the 48V lithium battery that system provides, when profile buoy needs to be implemented dive or floating acts, the first MCU control the 4th
Optocoupler conducting, and then the conducting of the 4th PMOS tube is driven, so that 48V lithium battery is piston pump motor drive circuitry.
7. according to claim 1 from sink-float profile buoy control circuit, it is characterised in that: the piston pump motor driving
Circuit includes the first MCU, the 5th optocoupler, first motor driver, and the first MCU is port controlling, and the 5th optocoupler is signal isolation,
First motor driver drives piston pump motor.
8. according to claim 1 from sink-float profile buoy control circuit, it is characterised in that: mould is corrected in the horizontal displacement
Block circuit includes the 2nd MCU, the 6th optocoupler, the 7th optocoupler, the second motor driver, third motor driver, and the 2nd MCU is end
Mouth control, the 6th optocoupler and the 7th optocoupler are signal isolation, the second motor driver driving axial motion motor, the drive of third motor
Dynamic device drives roll motion motor.
9. a kind of from sink-float profile buoy control method, it is characterised in that: mainly comprise the steps that
1) the first MCU is powered on and initialized, and control beidou mobile terminal powers on, and obtains floating profile buoy self poisoning information, and will
The location information is set as initial alignment point；
2) the first MCU controls piston pump motor driving circuit and powers on, and controls profile buoy dive, when profile buoy dive to finger
After depthkeeping degree, its suspension is controlled；
3) after working time, the first MCU control piston pump motor driving circuit is powered on, and control profile buoy floats, section
After buoy floats up to the water surface, the first MCU control beidou mobile terminal is powered on, and obtains floating profile buoy self poisoning information, and will
The location information is set as EXIT POINT, to complete first profile survey；
4) then start second profile survey, the first MCU control piston pump motor driving circuit powers on, and controls profile buoy
Dive controls its suspension after profile buoy dive is to designated depth；
5) after working time, the first MCU control piston pump motor driving circuit is powered on, and control profile buoy floats, simultaneously
First MCU controlled level displacement correction modular circuit powers on, the 2nd MCU power-up initializing, receives the initial fixed of the first MCU transmission
The location information in site and last EXIT POINT, while electronic compass azimuth information is received, the 2nd MCU is according to location information and sieve
Disk azimuth information controls axial motion motor and moves up and down, to change the floating pitch angle of profile buoy, controls roll motion
Motor or so circumference is mobile, to change the yaw angle of profile buoy, so that profile buoy does advance and wave towards initial alignment point
Unrestrained flighting schedule movement；
6) after profile buoy floats up to the water surface, the power-off of the first MCU controlled level displacement correction modular circuit then controls Beidou and moves
Dynamic terminal powers on, and obtains profile buoy self poisoning information, and sets new EXIT POINT for the location information, to complete the
Two profile surveys；
7) it so recycles, until completing the profile survey of setting.
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| CN201910388709.6A CN110244598B (en) | 2019-05-10 | 2019-05-10 | Self-sinking and floating profile buoy control circuit and control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910388709.6A CN110244598B (en) | 2019-05-10 | 2019-05-10 | Self-sinking and floating profile buoy control circuit and control method |
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| CN110244598B (en) | 2021-04-23 |
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