CN111252194B - Profile buoy control method and profile buoy - Google Patents
Profile buoy control method and profile buoy Download PDFInfo
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- CN111252194B CN111252194B CN201811460056.XA CN201811460056A CN111252194B CN 111252194 B CN111252194 B CN 111252194B CN 201811460056 A CN201811460056 A CN 201811460056A CN 111252194 B CN111252194 B CN 111252194B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B2022/006—Buoys specially adapted for measuring or watch purposes
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Abstract
The invention discloses a profile buoy control method, which comprises a submergence control step and a floating control step, wherein the submergence control step comprises the following steps: s1: a step of dive control, comprising: submerging the oil bag for oil drainage and executing hovering control; s2: a floating control step, wherein floating control is executed in stages after the submergence control step is finished; s22: and detecting the buoy parameters, when the buoy parameters are not in the corresponding preset parameter range, continuing oil return to control the oil bag to expand continuously, and continuously floating the section buoy until the sea surface. According to the profile buoy control method, the profile buoy is controlled to hover in the submergence control step, so that the hovering depth of the profile buoy can be accurately controlled, and in the stage floating control step, the pressure is gradually reduced along with the floating of the profile buoy through stage expansion, and the work done by oil discharge is less and less, so that the power consumption in the floating process is reduced.
Description
Technical Field
The invention relates to a profile buoy control method and a profile buoy.
Background
The self-supporting profile buoy is an ocean observation platform used for carrying various sensors, is applied to an Argo plan of an international ocean observation plan, is called as an Argo buoy, is specially used for measuring the temperature and salinity depth profile of an ocean subsurface layer, and returns observation data after the profile measurement is finished and emerges from the water surface through an Argo satellite.
The submergence depth of current traditional Argo buoys is concentrated at 2000 meters under the sea, but there are no reliable functioning Argo buoys in the deep sea of 4000 meters. As the submergence depth is expanded from 2000 meters to 4000 meters, higher requirements are provided for submergence and floatation control, hovering control, stage oil discharge control, ultra-low power consumption control and satellite communication of the buoy, and the requirements for the stability and reliability of control are also higher.
Disclosure of Invention
The invention provides a profile buoy control method and a profile buoy, which aim to solve the technical problems of high power consumption and poor operation stability of the existing profile buoy in deep sea detection.
In order to solve the technical problems, the invention adopts the following technical scheme:
a profile buoy control method comprises a submergence control step and a surfacing control step, wherein:
s1: a step of dive control, comprising: submerging oil discharged from the oil bag, executing hovering control, controlling the profile buoy to submerge to a first preset depth and enter a hovering process, finishing the hovering process when the hovering time meets hovering waiting time, and continuing submerging the oil discharged from the oil bag until the submerging stopping condition is met; the submergence stopping condition is that the submergence of the profile buoy is stopped to a second preset depth or the submergence time exceeds the preset submergence time, and the second preset depth is larger than the first preset depth;
s2: a floating control step, wherein floating control is executed in stages after the diving control step is finished, and the method at least comprises two steps: s21: controlling oil returning of the oil bag to enable the oil bag to expand to a preset value, and enabling the section buoy to float upwards;
s22: detecting buoy parameters, when the buoy parameters are not in the corresponding preset parameter range, continuing oil return to control the oil bag to expand continuously, and continuing floating up the section buoy until the sea surface;
the buoy parameters comprise one or more of floating speed, floating distance, submergence depth, depth from sea surface and floating delay time obtained by detection, and the corresponding preset parameter range at least comprises one or any combination of a preset floating speed range, a preset floating distance range, a depth from sea surface and a floating delay time range;
the oil discharge of the oil bag refers to discharging the hydraulic oil in the oil bag to the oil cylinder, and the oil return of the oil bag refers to discharging the hydraulic oil in the oil cylinder to the oil bag.
Further, the hover control previously includes: presetting hovering parameters which comprise a hovering depth, a hovering maximum depth and a hovering minimum depth, wherein the hovering maximum depth is greater than the hovering depth, and the hovering minimum depth is less than the hovering depth; the method also comprises the steps of presetting the oil quantity of the hovering oil sac, the hovering variable oil quantity and hovering waiting time; the hover control includes:
s10: detecting a profile buoy depth and comparing the profile buoy depth to the hover minimum depth;
s11: if the depth of the profile buoy is larger than the minimum hovering depth, entering a hovering process, controlling the oil bag oil return to expand the oil bag to the oil quantity of the hovering oil bag, timing hovering time, executing the step S12, and if not, returning to the step S10;
s12: and comparing the hovering time with the hovering waiting time, and ending the hovering process if the hovering time is not less than the hovering waiting time.
Further, in step S11, after the oil bag return oil control oil bag is inflated to the hovering oil bag oil amount, the method further includes recording a current oil bag oil amount V0, and if the hovering time is less than the hovering waiting time in step S12, the following steps are executed:
s120: detecting a profile buoy depth and comparing the profile buoy depth to the hover minimum depth;
s121: if the depth of the section buoy is smaller than the minimum hovering depth, the oil bag is controlled to be contracted by oil bag oil discharge, and the oil discharge time is timed;
s122: if the oil drainage time is not less than the preset time, stopping oil drainage;
s123: controlling the oil bag to expand when the oil bag returns oil;
s124: detecting the oil quantity of the oil bag, if the decrement of the oil quantity reaches 0err of the hovering change oil quantity, meeting the requirement that the current oil quantity is V0-0err, stopping oil return of the oil bag, and executing S125, otherwise, returning to the step S123, wherein 0err is larger than 0;
s125: return is made to step S12.
Further, in step S121, if the depth of the profile buoy is not less than the hovering minimum depth, the method further includes:
s126: comparing a profile buoy depth to the hover maximum depth;
s127: if the depth of the profile buoy is larger than the maximum hovering depth, controlling the oil sac to expand after oil is returned by the oil sac;
s128: detecting the oil quantity of the oil bag, if the increment of the oil quantity reaches the hovering changed oil quantity 0err, meeting the requirement that the current oil quantity is V0+0err, stopping oil return of the oil bag, executing S129, and otherwise, returning to the step S127;
s129: return is made to step S12.
Further, step S124 includes adding 1 to the oscillation frequency after the oil bag oil return is stopped, step S125 also includes determining the oscillation frequency, if the oscillation frequency is not greater than the preset frequency, returning to step S12, otherwise, ending the hovering process; and step S128, adding 1 to the oscillation frequency after oil return of the oil bag is stopped, step S129 further comprises judging the oscillation frequency, if the oscillation frequency is not more than the preset frequency, returning to step S12, and if not, ending the hovering process.
Further, the control method for controlling the oil pocket to drain the oil pocket and to reduce the oil pocket in step S121 is: and opening an electric control valve arranged between the oil cylinder and the oil bag, and discharging the hydraulic oil in the oil bag to the oil cylinder by using the seawater pressure finger.
Further, the condition that the float parameter is not within the corresponding preset parameter range in step S22 includes one or more of the following conditions:
a. the floating delay time is within the floating delay time range, and the floating speed is less than the preset floating speed;
b. the depth from the sea surface is not within the preset inflating depth range, and the floating speed is lower than the preset floating speed;
c. the floating delay time is within the floating delay time range, and the floating speed is not increased any more;
d. the depth from the sea surface is not within the preset inflating depth range, and the floating speed is not increased any more;
further, the preset parameter range in step S22 includes at least one range, each floating speed range corresponds to one oil bag variation, and the step S22 controls the oil bag expansion according to the oil bag variation corresponding to the current floating speed range.
Preferably, in step S22, the float floating time delay is within the preset time delay range, and the float floating speed is less than the lower limit value of the preset floating speed range, the preset value for controlling oil bag swelling by oil discharge is 10 mL to 100mL, the preset floating speed range is 0.05m/S to 0.3m/S, the submergence depth range is 2000m to 4000m, and the preset time delay is 40000S to 80000S.
Preferably, the preset parameter range value corresponding to the buoy parameter comprises a plurality of intervals, and each interval range corresponds to one oil discharge control oil bag expansion value; when the floating speed is less than 0.05m/s, the oil sac expands by 50 mL; when the floating speed is more than 0.05m/s and less than 0.1m/s, the oil sac expands by 40 mL; when the floating speed is more than 0.1m/s and less than 0.15m/s, the oil sac expands by 30 mL; when the floating speed is more than 0.15m/s and less than 0.2m/s, the oil sac expands by 20 mL.
Preferably, when the profile buoy continues to submerge from the first preset depth to the preset submerging condition, the oil pocket is drained by using the seawater pressure.
Further, the condition that the float parameter is not within the corresponding preset parameter range in step S22 includes one or any combination of the following conditions:
a. the floating delay time is within the floating delay time range, and the floating speed is less than the preset floating speed;
b. the depth from the sea surface is not within the preset inflating depth range, and the floating speed is lower than the preset floating speed;
c. the floating delay time is within the floating delay time range, and the floating speed is not increased any more;
d. the depth from the sea surface is not within the preset inflating depth range, and the floating speed is not increased any more.
Further, in step S22, the oil bag inflation is controlled according to the oil bag variation amount corresponding to the currently located floating speed range.
Further, the preset values are different at different depths in step S21.
Further, the step of performing the floating control in stages includes the steps of:
s200: detecting the submergence depth, if the submergence depth reaches the preset submergence depth, recording the submergence depth H1, returning oil to the oil bag, controlling the oil bag to expand V1, and proceeding to the step S210, otherwise, executing the step S201;
s201: detecting the running time of a submergence stage, if the running time exceeds a submergence preset delay, recording the submergence depth H2, returning oil to the oil bag, controlling the oil bag to expand V2, then entering the step S210, and if not, executing the step S213;
s210: detecting the floating speed and floating delay time, returning oil to the oil bag if the floating speed is less than the preset floating speed V1 and the floating delay time is within the preset floating delay time range t1, controlling the oil bag to expand V3, and executing the step S213, otherwise, executing the step S211;
s211: detecting the depth from the sea surface, returning oil to the oil bag if the depth from the sea surface is not within a preset inflation depth range L3 and the floating speed is less than a preset floating speed V2, controlling the oil bag to expand V4, and executing the step S213, otherwise, executing the step S212;
s212: detecting the depth from the sea surface and the floating delay time, returning the oil bag if the floating delay time is within a preset floating delay time range t2 and the depth from the sea surface is not within a preset inflating depth range L3, executing the step S213 after controlling the oil bag to expand V5, otherwise, executing the step S213;
s213: after waiting for time t3, detecting the depth from the sea surface, if the depth from the sea surface is within a preset inflation depth range L3, executing step S230, otherwise, returning to step S210;
s230: and entering a communication phase.
Further, the method also comprises a step of modifying the operation parameters of the buoy, wherein the operation parameters comprise any one or more of a return parameter command, a profile initial parameter command, a profile starting command, a hovering parameter command, a phase oil discharge parameter command and a temperature and air pressure command, the return parameter commands comprise temperature, depth, conductivity, salinity, floating oil mass, internal temperature and pressure of the ball, total equipment operation voltage and total equipment operation current, the profile initial parameter commands comprise CTD storage intervals, GPS counting intervals, gas pumping depth and maximum oil mass of the oil bag, the profile parameter commands comprise minimum depth of the oil bag, submergence depth and number of the profile, the hovering parameter commands comprise hovering depth, hovering depth error, estimated hovering oil mass, hovering oil mass increment and hovering duration, and the stage oil discharge parameter commands comprise any one or more of buoy floating speed and stage oil discharge mass increment.
Further, when the section buoy continues to submerge from the first preset depth to the preset submerging condition, the oil in the oil bag is discharged by utilizing the pressure of seawater.
The invention also provides a profile buoy which at least comprises an oil bag, an oil pump and a detector, wherein the detector is used for detecting buoy parameters, and the oil pump is at least used for discharging hydraulic oil in an oil cylinder into the oil bag; the profile buoy performs control according to the profile buoy control method described above.
Compared with the prior art, the invention has the advantages and positive effects that: the profile buoy control method comprises the following steps of firstly submerging to a first preset depth which is smaller than the preset submerging depth by controlling the profile buoy in the submerging control step, and hovering; the profile buoy is controlled to firstly submerge to a first preset depth which is smaller than the preset submerging depth, so that the hovering depth of the profile buoy can be accurately controlled; and thirdly, when the section buoy continues to submerge from the first preset depth to the preset submerging depth, the oil bag is drained by using the seawater pressure, the oil pump does not need to do work, and the power consumption can be further saved. In the floating control step, the buoy is prevented from swelling the oil sac to the maximum value for floating once in the deep sea, the deeper the depth is, the higher the pressure is, the more work is required for pumping the same oil amount, the scheme gradually reduces the pressure through the staged swelling along with the floating of the section buoy, the less work is required for oil discharge, and therefore the power consumption in the floating process is reduced.
Other features and advantages of the present invention will become more apparent from the detailed description of the embodiments of the present invention when taken in conjunction with the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a partial flow chart of an embodiment of a profile buoy control method of the present invention;
FIG. 2 is a partial flow chart of an embodiment of a profile buoy control method of the present invention;
FIG. 3 is a graph of phase return power in an embodiment of the present invention profile buoy control method;
FIG. 4 is a graph of float flap oil volumes at different depths in an embodiment of the profile float control method of the present invention;
fig. 5 is a schematic block diagram of an embodiment of a profile buoy according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
The section buoy control method of the embodiment comprises a submergence control step and a floating control step, the submergence control step is to discharge an oil part in the oil bag to enable hydraulic oil in the oil bag to meet a preset oil amount, the initial gravity of the buoy is greater than buoyancy, the section buoy submerges to a certain depth, the floating control step refers to returning the oil bag to the preset oil amount, the volume of the oil bag is large, and the buoy floats under the action of buoyancy, wherein:
s1: a step of dive control, comprising: submerging oil discharged from the oil bag and executing hovering control, controlling the profile buoy to enter a hovering process when submerging to a first preset depth, finishing the hovering process when hovering time meets hovering waiting time, and continuing submerging the oil discharged from the oil bag until the submerging stopping condition is met; the submergence stopping condition means that the section buoy submerges to a second preset depth or submergence time exceeds preset submergence time, and the second preset depth is larger than the first preset depth. The buoy is controlled to hover for waiting in water at a certain depth, and energy is not consumed basically in the hovering waiting process, so that the power consumption is saved, and the working time of the buoy is prolonged; the profile buoy is controlled to firstly submerge to a first preset depth which is smaller than the preset submerging depth, so that the submerging depth of the profile buoy can be accurately controlled. Hovering at the preset depth can prevent the error exceeding the hovering depth, reduce the times of oil discharge and oil return in the hovering depth, save power consumption and prolong the working time of the section buoy.
S2: a floating control step, wherein floating control is executed in stages after the diving control step is finished, and the method at least comprises two steps: s21: controlling oil returning of the oil bag to enable the oil bag to expand to a preset value, and enabling the section buoy to float upwards;
s22: detecting buoy parameters, when the buoy parameters are not in the corresponding preset parameter range, continuing oil return to control the oil bag to expand continuously, and continuing floating up the section buoy until the sea surface; the buoy avoids the situation that the buoy floats up the oil sac to the maximum value at one time in the deep sea, the deeper the depth is, the larger the seawater pressure is, the more work is required for pumping and discharging the same oil amount, the scheme returns oil in several stages in the floating process, the oil sac expands in stages, the seawater pressure is gradually reduced along with the floating of the profile buoy, the work done by oil discharge is less and less, and therefore the power consumption in the floating process is reduced.
The buoy parameters comprise one or more of floating speed, floating distance, submergence depth, depth from sea surface and floating delay time obtained by detection, and the corresponding preset parameter range at least comprises one or any combination of a preset floating speed range, a preset floating distance range, a depth from sea surface and a floating delay time range;
the oil discharging of the oil bag refers to discharging hydraulic oil in the oil bag to the oil cylinder, the oil returning of the oil bag refers to discharging the hydraulic oil in the oil cylinder to the oil bag, the oil quantity in the oil bag is changed in an oil discharging and oil returning mode, the size of the oil bag is further changed, the buoyancy of the oil bag is correspondingly changed, the section buoy can be driven to float upwards when the buoyancy is larger than the gravity, or the section buoy dives when the buoyancy is smaller than the gravity, the oil returning is generally completed by the oil pump, and the oil discharging can be completed by the oil pump or the pressure of seawater.
In step S1, when the section buoy continues to submerge from the first predetermined depth to the predetermined submerging condition, the oil in the oil pocket is drained by using the seawater pressure. The pressure of the seawater is utilized to naturally discharge oil, an oil pump motor does not need to be started, and energy storage is not wasted.
The hover control previously includes: presetting hovering parameters, wherein the hovering parameters comprise a hovering depth, a hovering maximum depth and a hovering minimum depth, the hovering maximum depth is greater than the hovering depth, and the hovering minimum depth is less than the hovering depth; the hovering depth is a target depth for controlling the buoy to hover in the hovering control, but in the actual operation process, the buoy can be operated to hover in a certain error range above and below the target depth, the repeated work of the buoy is prevented from being done, the depth is adjusted, and the effect of saving power consumption can be achieved, so that the buoy can hover in the depth between the hovering minimum depth and the hovering maximum depth by setting the hovering minimum depth and the hovering maximum depth, and the step of presetting the hovering parameters further comprises the steps of presetting the oil quantity of the hovering oil bag, the hovering change oil quantity and the hovering waiting time; the hovering oil sac oil amount refers to an oil amount which is calculated in advance and can enable the buoy to keep hovering at a hovering depth, the hovering waiting time refers to preset hovering time which is the time from the beginning of hovering timing to the end of hovering, and as shown in fig. 1, the hovering control includes:
s10: detecting a profile buoy depth and comparing the profile buoy depth to a hover minimum depth; the depth of the profile buoy can be detected by a thermohaline depth gauge (CTD).
S11: if the depth of the profile buoy is greater than the minimum hovering depth H-dh, wherein H is a first preset depth, dh is an allowable hovering error, entering a hovering process, controlling the oil bag to expand to the oil quantity of the hovering oil bag by controlling oil bag return oil, timing hovering time, and executing step S12; otherwise, return to step S10; the detector detects buoy parameters in real time in the submergence process of the buoy, the hovering process can be started when the depth of the profile buoy is detected to be larger than the hovering minimum depth, in order to prevent the buoy from continuing submergence, the oil bag needs to be returned, and the oil quantity of the oil bag is controlled to expand to the hovering oil bag so that the buoy can be kept hovering in the hovering depth.
S12: and comparing the hovering time with the hovering waiting time, and ending the hovering process if the hovering time is not less than the hovering waiting time.
According to the scheme, the profile buoy is suspended at a certain depth underwater, so that the profile buoy can be prevented from being salvaged by a fishing boat and the like, and the profile buoy is prevented from being damaged by long-term storm impact on the water surface due to the fact that storm on the water surface is large. And the underwater seawater is cleaner, so that the buoy is prevented from being polluted, deposited and attached.
Because the parameters such as the oil quantity and the like are scientifically estimated in advance, the underwater situation is complex, adjustment needs to be carried out according to the actual situation, in order to prevent the buoy from being out of control, a certain step value is needed for both increasing and decreasing on the premise of a certain oil quantity reference, in step S11, after the oil sac is controlled to expand to the oil sac oil quantity for hovering, the current oil sac oil quantity V0 is recorded, and in step S12, if the hovering time is less than the hovering waiting time, the following steps are executed:
s120: detecting a profile buoy depth and comparing the profile buoy depth to a hover minimum depth;
s121: if the depth of the section buoy is smaller than the minimum hovering depth, the oil bag is controlled to be contracted by oil bag oil discharge, and the oil discharge time is timed;
s122: if the oil drainage time is not less than the preset time, stopping oil drainage;
s123, controlling the oil bag to expand after the oil bag returns oil;
s124: detecting the oil quantity of the oil bag, if the decrement of the oil quantity reaches 0err of the hovering change oil quantity, meeting the requirement that the current oil quantity is V0-0err, stopping oil return of the oil bag, and executing S125, otherwise, returning to the step S123, wherein 0err is larger than 0;
s125: return is made to step S12.
The oil discharge in the process can automatically discharge the oil in the oil bag through the seawater pressure, and the oil discharge amount is controlled by setting the oil discharge time. After the oil is drained in step S122, the oil pocket is reduced, and the buoy can continue to submerge to a depth not less than the minimum hovering depth. In order to prevent the buoy from continuing to dive and exceeding the maximum hovering depth, step S123 is required to control oil sac oil return to expand so that the buoy can hover within the hovering depth range.
The profile buoy in the embodiment has the capability of measuring the current speed of the sea with different depths of 0-4000 meters, and the maximum hovering depth is 4000 meters, so that the hovering depth range is enlarged and the hovering depth is deepened compared with the fixed hovering depth of the traditional hovering control technology. The reduction of the oil sac in the traditional method can be realized by seawater pressure, if only the preset value is reduced to enable the buoy to hover at a certain depth, proper oil discharge is not carried out, and the hovering depths are different due to the fact that the densities of seawater in different sea areas are different. In the scheme, the oil sac is reduced, then the oil pump is used for pumping oil into the oil sac to enable the volume of the oil sac to reach a preset value, the buoy gradually enters a hovering state, and hovering of the buoy in a preset hovering depth interval is achieved.
In step S121, if the depth of the profile buoy is not less than the minimum hovering depth, the method further includes:
s126: comparing a profile buoy depth to the hover maximum depth;
s127: if the depth of the profile buoy is larger than the maximum hovering depth, controlling the oil sac to expand after oil is returned by the oil sac;
s128: detecting the oil quantity of the oil bag, if the increment of the oil quantity reaches the hovering changed oil quantity 0err, meeting the requirement that the current oil quantity is V0+0err, stopping oil return of the oil bag, executing S129, and otherwise, returning to the step S127;
s129: return is made to step S12.
When the depth of the profile buoy is not less than the hovering minimum depth, the profile buoy is located between the hovering minimum depth and the hovering maximum depth, and is greater than the hovering maximum depth, when the profile buoy is located between the hovering minimum depth and the hovering maximum depth, the depth is kept without oil discharge or oil return, and when the profile buoy is greater than the hovering maximum depth, the oil bag needs to be returned to enable the oil bag to float to the target depth range, so that the next step of control is executed by continuously judging the size relation between the current depth and the hovering maximum depth.
Because each time of oil return needs the oil pump to do work to consume energy, in order to prevent the power consumption from being too large due to adjustment, the oscillation frequency is increased by 1 after the oil return of the oil bag is stopped in the step S124, the oscillation frequency is judged in the step S125, if the oscillation frequency is not greater than the preset frequency, the step S12 is returned, otherwise, the hovering process is ended, wherein the preset frequency is a positive integer, the hovering process is ended, and if the preset frequency is exceeded, the hovering process is started in the next step in a hovering ending mode, so that the energy is prevented from being excessively consumed in the hovering control; and step S128, adding 1 to the oscillation frequency after oil return of the oil bag is stopped, step S129 further comprises judging the oscillation frequency, if the oscillation frequency is not more than the preset frequency, returning to step S12, and if not, ending the hovering process.
In step S121, the control method for controlling the oil bag to shrink by discharging oil from the oil bag includes: and opening an electric control valve arranged between the oil cylinder and the oil bag, and discharging the hydraulic oil in the oil bag to the oil cylinder by using the seawater pressure finger. The pressure of the seawater is utilized to discharge oil naturally, so that energy storage is not wasted, power consumption can be further saved, and the working time of the buoy is prolonged.
The condition that the float parameter is not within the corresponding preset parameter range in the step S22 includes one or any combination of the following conditions:
a. the floating delay time is within the floating delay time range, and the floating speed is less than the preset floating speed;
b. the depth from the sea surface is not within the preset inflating depth range, and the floating speed is lower than the preset floating speed;
c. the floating delay time is within the floating delay time range, and the floating speed is not increased any more;
d. the depth from the sea surface is not within the preset inflating depth range, and the floating speed is not increased any more;
in step S22, the float floating time delay is within the preset time delay range, the float floating speed is less than the lower limit value of the preset floating speed range, the preset value for controlling the oil bag swelling to be 10 mL-100 mL is set, the preset floating speed range is 0.05 m/S-0.2 m/S, the submergence depth range is 2000m-4000m, and the preset time delay range is 40000S-80000S.
In the step S22, the preset parameter range value corresponding to the float floating parameter of the buoy comprises a plurality of intervals, and each interval range corresponds to one oil discharge control oil bag expansion value; and controlling the oil bag to expand according to the oil bag change amount corresponding to the currently located floating speed range. When the floating speed is less than 0.05m/s, the oil sac expands by 50 mL; when the floating speed is more than 0.05m/s and less than 0.1m/s, the oil sac expands by 40 mL; when the floating speed is more than 0.1m/s and less than 0.15m/s, the oil sac expands by 30 mL; when the floating speed is more than 0.15m/s and less than 0.2m/s, the oil sac expands by 20 mL.
As shown in fig. 2, performing the ascent control in stages includes the steps of:
s200: detecting the submergence depth, if the submergence depth reaches the preset submergence depth, recording the submergence depth H1, returning oil to the oil bag, controlling the oil bag to expand V1, and proceeding to the step S210, otherwise, executing the step S201;
s201: detecting the running time of a submergence stage, if the running time exceeds a submergence preset delay, recording the submergence depth H2, returning oil to the oil bag, controlling the oil bag to expand V2, then entering the step S210, and if not, executing the step S213;
s210: detecting the floating speed and floating delay time, returning oil to the oil bag if the floating speed is less than the preset floating speed V1 and the floating delay time is within the preset floating delay time range t1, controlling the oil bag to expand V3, and executing the step S213, otherwise, executing the step S211;
s211: detecting the depth from the sea surface, returning oil to the oil bag if the depth from the sea surface is not within a preset inflation depth range L3 and the floating speed is less than a preset floating speed V2, controlling the oil bag to expand V4, and executing the step S213, otherwise, executing the step S212;
s212: detecting the floating distance and floating delay time, returning the oil bag if the floating delay time is within a preset floating delay time range t2 and the depth from the sea surface is not within a preset inflating depth range L3, executing the step S213 after controlling the oil bag to expand V5, otherwise, executing the step S213;
s213: after waiting for time t3, detecting the depth from the sea surface, if the depth from the sea surface is not within the preset inflation depth range L3, executing the step S230, otherwise, returning to the step S210;
s230: and entering a communication phase.
The stage oil return floating technology of the buoy enables the buoy to float at different depths in an oil return mode, reduces the power consumption of the buoy during working, and prolongs the running time of the buoy; the floating speed and the stage oil discharge amount of the stage oil discharge can be remotely set, so that the buoy has the capability of adjusting the floating speed and the total floating time of 0-4000 meters compared with the conventional stage oil discharge technology. And the deeper the depth is, the lower the oil discharge amount is, the power consumption of each stage is reduced, and because the oil discharge is carried out by the traditional method when the oil discharge is lower than 0.1m/s, the oil bag at the deepest part needs to swell to a larger volume, and the speed can reach 0.1m/s, the method can save more energy consumption than the traditional method.
As shown in fig. 3, the power consumption of the phase oil discharge curve is reduced from 12.9 w to 3 w when the buoy in fig. 3 changes from 4000m to 0m, and the curve is in a linear positive correlation. For example, when the oil is discharged at the depth of 2000m, the power is reduced by 5.1W compared with the oil discharged at the depth of 4000 m. When the oil is discharged at the depth of 1000 meters and the oil is discharged at the depth of 4000 meters, the power is reduced by 7.86 watts. Thus, the staged oil discharge greatly reduces the overall power consumption of the buoy. The above power data is measured at a speed of 1000 rpm for the oil pump motor.
Fig. 4 shows a graph of oil drainage from the float at different depths, wherein the oil drainage is reduced from 50ml to 43.6 ml when the float depth is changed from 0m to 4000m, and the curves are positively correlated. Thus, at different depths, the float will drain oil differently, with the deeper the depth, the lower the amount of oil drained. According to the scheme, the oil discharge amount is accurately controlled through the preset value of the oil discharge amount, so that the floating speed of the buoy at different oil discharge stages is changed periodically.
Further comprising a step of modifying the operation parameters of the buoy, wherein the operation parameters comprise any one or more of a return parameter command, a profile initial parameter command, a profile starting command, a hovering parameter command, a phase oil discharge parameter command and a temperature and air pressure command, the return parameter commands comprise temperature, depth, conductivity, salinity, floating oil mass, internal temperature and pressure of the ball, total equipment operation voltage and total equipment operation current, the profile initial parameter commands comprise CTD storage intervals, GPS counting intervals, gas pumping depth and maximum oil mass of the oil bag, the profile parameter commands comprise minimum depth of the oil bag, submergence depth and number of the profile, the hovering parameter commands comprise hovering depth, hovering depth error, estimated hovering oil mass, hovering oil mass increment and hovering duration, and the stage oil discharge parameter commands comprise any one or more of buoy floating speed and stage oil discharge mass increment. The method for modifying the parameters comprises the steps of receiving satellite information when the buoy floats to the sea surface, receiving nearby ship transmission information by the buoy and manually modifying the information.
The buoy operation parameters can be changed, the operation adaptability of the buoy in different sea areas is improved, and different requirements of users are met.
Example two
The embodiment provides a section buoy, as shown in fig. 1, a mechanical structure 1 and a detector 2, wherein the mechanical structure 1 comprises a motor 101, an oil pump 102, an oil pipe 103, an oil bag 104, an air bag 105, an oil cylinder 106, a steering engine 107, a ball valve 108, an air pump 109, an antenna 110, a stay wire displacement sensor 111, a CTD sensor 112 and hydraulic oil 113, and the mechanical structure 1 and the detector 2 are installed in a glass instrument cabin; the control module of the detector 2 comprises an oil pump motor driving module 201, a steering engine driving module 202, an iridium module 203, a GPS module 204, a stay wire displacement acquisition module 205, a CTD acquisition module 206 and a relay 207; the steering engine driving module 202 is controlled to be powered on through the relay 207, and the steering engine 107 drives the ball valve 108 to rotate; due to the action of negative pressure in the glass instrument cabin, hydraulic oil 113 is discharged from the oil bag 104 to the oil cylinder 106 through the oil pipe fitting 103, the oil bag 104 is reduced, and the volume of the buoy is reduced; the relay 207 controls the oil pump motor driving module 201 to be electrified, the motor 101 drives the oil pump 102 to rotate, the hydraulic oil 113 is pumped to the oil bag 104 from the oil cylinder 106 through the oil pipe fitting 103, the oil bag 104 expands, and the volume of the buoy is increased; the buoy floats to the inflation depth, the relay 207 controls the air pump 109 to be powered on, the hydraulic oil in the glass instrument chamber is pumped to the air bag 105, the air bag 105 expands to lift the antenna 110 and stabilize the buoy, and after the inflation of the buoy is finished, the satellite communication stage is started, the geographic position information and the profile data are sent, and the remote command is received; the relay 207 controls the stay wire displacement acquisition module 205 to be powered on, acquires length data of the stay wire displacement sensor 111, converts the length data into oil mass of the oil sac 104, and is used for judging the oil mass of the buoy submergence and stage oil discharge and floatation; the relay 207 controls the CTD acquisition module 206 to be electrified, the depth, the temperature, the salinity and the conductivity of the CTD sensor 112 are acquired, and the acquired depth is used for judging the depth of buoy submergence and stage oil discharge and floating.
The depth and the running time are collected through the detector 2, buoy parameters are calculated, when preset conditions are met, the buoy is controlled to float upwards or sink by adjusting the size of the oil bag 104, and the adjustment of the size of the oil bag 104 comprises the steps of discharging hydraulic oil 113 to the oil bag 104 through the oil pump 102 to enable the oil bag 104 to expand or discharging the hydraulic oil 113 out of the oil bag 104 to enable the oil bag 104 to shrink;
the buoy parameters comprise the floating speed and the submerging speed of the buoy, the submerging depth of the section, the depth from the sea surface and the floating operation delay time;
in the hovering process of the buoy, the oil pump motor driving module 201, the steering engine driving module 202, the iridium module 203, the GPS module 204, the stay wire displacement acquisition module 205, the motor 101, the steering engine 107 and the air pump 109 are all not operated, the CTD acquisition module 206 is operated, and the acquired depth is used for controlling whether hovering.
The profile buoy performs control according to the profile buoy control method described in the first embodiment, which is specifically described in the first embodiment and will not be described herein.
The operation parameters of the buoy can be modified according to the acquired information transmitted back by buoy communication, application change, the working condition of the buoy, the position of the buoy and the position environment condition, the parameters are modified in a mode of receiving satellite information when the buoy floats to the sea surface, receiving information transmitted by a ship nearby by the buoy and manually modifying information, the parameters comprise a return parameter command, a profile initial parameter command, a profile starting command, a hovering parameter command, a stage oil discharge parameter command and a temperature and air pressure command, the return parameter command comprises temperature, depth, conductivity, salinity, floating oil quantity, internal temperature and pressure of a ball, total equipment operation voltage and total equipment operation current, the profile initial parameter command comprises a CTD (computer to digital) storage interval, a GPS (global positioning system) emission interval, inflation depth and maximum oil quantity of an oil pocket, and the profile parameter command comprises minimum depth, minimum oil pocket depth, maximum oil quantity of the, Submerging depth and the number of sections, wherein the hovering parameter command comprises hovering depth, hovering depth error, pre-estimated hovering oil quantity, hovering oil quantity increment and hovering duration, and the stage oil discharge parameter command comprises buoy floating speed and stage oil discharge quantity increment; the operation parameters are modified to control the section motion of the buoy, flexibly control the submergence, the suspension, the surfacing and the satellite communication of the buoy, and improve the customizability of the buoy motion.
When the oil pump motor driving module 201, the steering engine driving module 202, the iridium module 203, the GPS module 204, the stay wire displacement acquisition module 205, the CTD acquisition module 206 and the air pump 109 of the buoy do not work, the relay is controlled to be powered off; the low-power consumption control of the detector 2 on the modules prolongs the working time of the buoy.
The GPS module 204 is used for satellite positioning, the iridium module 203 and the antenna 110 are used for transmitting acquired information and receiving command parameters, the air pump is used for inflating to act on the air bag 105 to expand the air bag 105, the inflating time is 120 seconds, the height of the antenna 110 extending out of the sea surface is increased, the vibration of a buoy on the sea surface due to sea waves is weakened, and the stability and the transmission success rate of satellite communication are improved.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (15)
1. A profile buoy control method is characterized by comprising a submergence control step and a surfacing control step, wherein:
s1: a step of dive control, comprising: submerging oil discharged from the oil bag, executing hovering control, controlling the profile buoy to submerge to a first preset depth and enter a hovering process, finishing the hovering process when the hovering time meets hovering waiting time, and continuing submerging the oil discharged from the oil bag until the submerging stopping condition is met; the submergence stopping condition is that the submergence of the profile buoy is stopped to a second preset depth or the submergence time exceeds the preset submergence time, and the second preset depth is larger than the first preset depth;
s2: a floating control step, wherein floating control is executed in stages after the diving control step is finished, and the method at least comprises two steps:
s21: controlling oil returning of the oil bag to enable the oil bag to expand to a preset value, and enabling the section buoy to float upwards;
s22: detecting buoy parameters, when the buoy parameters are not in the corresponding preset parameter range, continuing oil return to control the oil bag to expand continuously, and continuing floating up the section buoy until the sea surface;
the buoy parameters comprise one or more of floating speed, floating distance, submergence depth, depth from sea surface and floating delay time obtained by detection, and the corresponding preset parameter range at least comprises one or a combination of a preset floating speed range, a preset floating distance range, a depth from sea surface and a floating delay time range;
the oil discharge of the oil bag refers to discharging the hydraulic oil in the oil bag to the oil cylinder, and the oil return of the oil bag refers to discharging the hydraulic oil in the oil cylinder to the oil bag.
2. The profile buoy control method of claim 1, wherein the hover control previously comprises: presetting hovering parameters which comprise a hovering depth, a hovering maximum depth and a hovering minimum depth, wherein the hovering maximum depth is greater than the hovering depth, and the hovering minimum depth is less than the hovering depth; the method also comprises the steps of presetting the oil quantity of the hovering oil sac, the hovering variable oil quantity and hovering waiting time; the hover control includes:
s10: detecting a profile buoy depth and comparing the profile buoy depth to the hover minimum depth;
s11: if the depth of the profile buoy is larger than the minimum hovering depth, entering a hovering process, expanding the oil sac oil return control oil sac to the oil amount of the hovering oil sac, timing hovering time, and executing the step S12; otherwise, return to step S10;
s12: and comparing the hovering time with the hovering waiting time, and ending the hovering process if the hovering time is not less than the hovering waiting time.
3. The profile buoy control method of claim 2, wherein in step S11, after the oil sac oil return control oil sac is inflated to the hovering oil sac oil volume, the method further comprises recording a current oil sac oil volume V0, and in step S12, if the hovering time is less than the hovering waiting time, the following steps are performed:
s120: detecting a profile buoy depth and comparing the profile buoy depth to the hover minimum depth;
s121: if the depth of the section buoy is smaller than the minimum hovering depth, the oil bag is controlled to be contracted by oil bag oil discharge, and the oil discharge time is timed;
s122: if the oil drainage time is not less than the preset time, stopping oil drainage;
s123, controlling the oil bag to expand after the oil bag returns oil;
s124: detecting the oil quantity of the oil bag, if the decrement of the oil quantity reaches 0err of the hovering change oil quantity, meeting the requirement that the current oil quantity is V0-0err, stopping oil return of the oil bag, and executing S125, otherwise, returning to the step S123, wherein 0err is larger than 0;
s125: return is made to step S12.
4. The profile buoy control method of claim 3, wherein in step S121, if the profile buoy depth is not less than the hovering minimum depth, the method further comprises:
s126: comparing a profile buoy depth to the hover maximum depth;
s127: if the depth of the profile buoy is larger than the maximum hovering depth, controlling the oil sac to expand after oil is returned by the oil sac;
s128: detecting the oil quantity of the oil bag, if the increment of the oil quantity reaches the hovering changed oil quantity 0err, meeting the requirement that the current oil quantity is V0+0err, stopping oil return of the oil bag, executing S129, and otherwise, returning to the step S127;
s129: return is made to step S12.
5. The profile buoy control method of claim 4, further comprising adding 1 to the oscillation frequency after the oil pocket oil return is stopped in step S124, and further comprising determining the oscillation frequency, returning to step S12 if the oscillation frequency is not greater than a preset frequency, otherwise, ending the hovering process; and step S128, adding 1 to the oscillation frequency after oil return of the oil bag is stopped, step S129 further comprises judging the oscillation frequency, if the oscillation frequency is not more than the preset frequency, returning to step S12, and if not, ending the hovering process.
6. The profile float control method according to claim 3, wherein the control method of controlling the oil pocket to be contracted by oil pocket drainage in step S121 is: and opening an electric control valve arranged between the oil cylinder and the oil bag, and discharging the hydraulic oil in the oil bag to the oil cylinder by using the seawater pressure finger.
7. The profile buoy control method as claimed in claim 1, wherein in step S22, the buoy floating delay time is within a preset delay time range, the buoy floating speed is less than the lower limit of the preset floating speed range, the preset value for controlling oil bag swelling by oil drainage is 10 mL to 100mL, the preset floating speed range is 0.05m/S to 0.3m/S, the submergence depth range is 2000m to 4000m, and the preset delay time range is 40000S to 80000S.
8. The profile float control method according to claim 1, wherein in step S22, the preset parameter range value corresponding to the float parameter includes a plurality of intervals, and each interval range corresponds to a value of the oil discharge control oil sac inflation; when the floating speed is less than 0.05m/s, the oil sac expands by 50 mL; when the floating speed is more than 0.05m/s and less than 0.1m/s, the oil sac expands by 40 mL; when the floating speed is more than 0.1m/s and less than 0.15m/s, the oil sac expands by 30 mL; when the floating speed is more than 0.15m/s and less than 0.2m/s, the oil sac expands by 20 mL.
9. The profile buoy control method of any one of claims 1 to 8, wherein the absence of the buoy parameter from the corresponding preset parameter range in step S22 comprises one or any combination of the following conditions:
a. the floating delay time is within the floating delay time range, and the floating speed is less than the preset floating speed;
b. the depth from the sea surface is not within the preset inflating depth range, and the floating speed is lower than the preset floating speed;
c. the floating delay time is within the floating delay time range, and the floating speed is not increased any more;
d. the depth from the sea surface is not within the preset inflating depth range, and the floating speed is not increased any more.
10. The section float control method according to any one of claims 1 to 8, wherein in step S22, the oil bladder swell is controlled in accordance with the oil bladder change amount corresponding to the currently existing floating speed range.
11. The profile buoy control method of any one of claims 1-8, wherein the preset values are different at different depths in step S21.
12. The profiling float control method according to any one of claims 1 to 8, wherein the execution of the ascent control in stages includes the steps of:
s200: detecting the submergence depth, if the submergence depth reaches the preset submergence depth, recording the submergence depth H1, returning oil to the oil bag, controlling the oil bag to expand V1, and proceeding to the step S210, otherwise, executing the step S201;
s201: detecting the running time of a submergence stage, if the running time exceeds a submergence preset delay, recording the submergence depth H2, returning oil to the oil bag, controlling the oil bag to expand V2, then entering the step S210, and if not, executing the step S213;
s210: detecting the floating speed and floating delay time, returning oil to the oil bag if the floating speed is less than the preset floating speed V1 and the floating delay time is within the preset floating delay time range t1, controlling the oil bag to expand V3, and executing the step S213, otherwise, executing the step S211;
s211: detecting the depth from the sea surface, returning oil to the oil bag if the depth from the sea surface is not within a preset inflation depth range L3 and the floating speed is less than a preset floating speed V2, controlling the oil bag to expand V4, and executing the step S213, otherwise, executing the step S212;
s212: detecting the depth from the sea surface and the floating delay time, returning the oil bag if the floating delay time is within a preset floating delay time range t2 and the depth from the sea surface is not within a preset inflating depth range L3, executing the step S213 after controlling the oil bag to expand V5, otherwise, executing the step S213;
s213: after waiting for time t3, detecting the depth from the sea surface, if the depth from the sea surface is within a preset inflation depth range L3, executing step S230, otherwise, returning to step S210;
s230: and entering a communication phase.
13. The profile buoy control method according to any one of claims 1-8, further comprising the step of modifying operational parameters of the buoy, the operational parameters including any one or more of a return parameter command, a profile initial parameter command, a profile parameter command, a start profile command, a hover parameter command, a phase oil discharge parameter command, and a temperature and pressure command, the return parameter command including temperature, depth, conductivity, salinity, an amount of oil floating up, a temperature and pressure in the sphere, a total voltage of device operation, and a total current of device operation, the profile initial parameter command including CTD storage intervals, GPS launch intervals, a pump-up depth, and a maximum amount of oil in the oil pocket, the profile parameter command including a minimum depth of the oil pocket, a submergence depth, and a number of profiles, the hover parameter command including a hover depth, a hover depth error, an estimated amount of oil, an increment of oil in hover, and a maximum amount of oil in the oil pocket, The hovering time length and the stage oil discharge parameter command comprise any one or more of floating speed of a buoy and increment of stage oil discharge quantity.
14. The profile buoy control method according to any one of claims 1-8, wherein the oil pocket is drained by seawater pressure while the profile buoy continues to submerge from the first predetermined depth to a predetermined submergence condition.
15. A profile buoy is characterized by at least comprising an oil bag, an oil pump and a detector, wherein the detector is used for detecting buoy parameters, and the oil pump is at least used for discharging hydraulic oil in an oil cylinder into the oil bag; the profile buoy is controlled according to the profile buoy control method of any one of claims 1 to 14.
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| CN111856967B (en) * | 2020-07-17 | 2024-01-12 | 山东科技大学 | Semi-physical simulation system and method for self-sustaining profile buoy |
| CN112905686B (en) * | 2021-03-24 | 2022-08-05 | 中国海洋大学 | Python program-based ocean profile water body data extraction method |
| CN113378491A (en) * | 2021-05-31 | 2021-09-10 | 青岛海洋地质研究所 | Deep sea Argo buoy energy consumption parameter sensitivity analysis method |
| CN114488867B (en) * | 2021-12-09 | 2023-06-16 | 天津大学青岛海洋技术研究院 | Buoy profile motion and data acquisition controller and use method thereof |
| CN116068884B (en) * | 2023-03-14 | 2023-06-09 | 天津大学 | Self-adaptive hover control method applied to detection equipment and electronic equipment |
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