CN111856967A - Semi-physical simulation system and method for self-supporting profile buoy - Google Patents
Semi-physical simulation system and method for self-supporting profile buoy Download PDFInfo
- Publication number
- CN111856967A CN111856967A CN202010692964.2A CN202010692964A CN111856967A CN 111856967 A CN111856967 A CN 111856967A CN 202010692964 A CN202010692964 A CN 202010692964A CN 111856967 A CN111856967 A CN 111856967A
- Authority
- CN
- China
- Prior art keywords
- buoy
- simulation
- pressure
- control system
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004088 simulation Methods 0.000 title claims abstract description 91
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000012360 testing method Methods 0.000 claims abstract description 24
- 230000033001 locomotion Effects 0.000 claims abstract description 18
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 6
- 238000012545 processing Methods 0.000 claims abstract description 3
- 239000003921 oil Substances 0.000 claims description 57
- 238000012544 monitoring process Methods 0.000 claims description 44
- 238000012821 model calculation Methods 0.000 claims description 27
- 239000013535 sea water Substances 0.000 claims description 27
- 230000001105 regulatory effect Effects 0.000 claims description 17
- 238000004891 communication Methods 0.000 claims description 12
- 238000013500 data storage Methods 0.000 claims description 12
- 239000010720 hydraulic oil Substances 0.000 claims description 11
- 230000008859 change Effects 0.000 claims description 10
- 230000005484 gravity Effects 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 5
- 230000001276 controlling effect Effects 0.000 claims description 3
- 230000006872 improvement Effects 0.000 abstract description 2
- 238000005457 optimization Methods 0.000 abstract description 2
- 230000008092 positive effect Effects 0.000 abstract description 2
- 230000009467 reduction Effects 0.000 abstract description 2
- 238000012795 verification Methods 0.000 abstract description 2
- 230000001133 acceleration Effects 0.000 description 4
- 238000001816 cooling Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The invention provides a semi-physical simulation system and a semi-physical simulation method for a self-supporting profile buoy, wherein the system comprises the following components: the buoy hydraulic system simulates the submergence and the upward floating of a buoy; the buoy main control system is used for controlling the buoy to perform section movement; a pressure regulation system for providing a varying pressure to the buoy hydraulic system; the simulation control system is used for carrying out simulation experiment state control and data processing; a controller 1 for transmitting pressure regulation protocol data between the simulation control system and the pressure regulation system; and the buoy main control system receives data transmitted by the buoy hydraulic system and the simulation control system. The invention can perform section motion of a laboratory simulation buoy approaching to the marine environment, perform constant pressure test, power consumption test, control algorithm verification and the like, and has positive effects on the improvement of the reliability and stability of an Argo section buoy hydraulic system and a main control system, the reduction of the marine test cost and the optimization of the power consumption of the whole machine.
Description
Technical Field
The invention belongs to the technical field of ocean exploration, and particularly relates to a semi-physical simulation system and method for a self-supporting profile buoy.
Background
The Argo (global oceanic real-time observation network) plan is a global oceanic observation test project introduced in 1998, and aims to quickly, accurately and widely collect profile data of seawater temperature and salinity on the upper layer of global oceans by arranging satellite tracking buoys on the global oceans so as to improve the accuracy of climate forecast and effectively defend against the threat of increasingly serious global climate disasters to human beings. By the end of 2016, 5 months, 3814 profile buoys form a global Argo real-time marine observation network, and since the implementation of the organization in early 2002 in China Argo project, 462 Argo profile buoys have been released in the ocean areas such as the Pacific ocean, the Indian ocean, and the like. At present, 88 buoys still work normally at sea.
At present, the industrialization of 1000-meter and 2000-meter Argo profile buoys is realized, the 4000-meter Argo profile buoy is still in the successful development stage, the industrialization is not formed, the reliability and the stability of the 4000-meter Argo profile buoy need to be further improved, but the sea test cost of the Argo profile buoy is higher, and the cost ratio of the development of equipment can be reduced due to a large amount of sea tests. During research and development and industrialization, equipment is improved and optimized through a sea test result, efficiency is low, progress is slow, all operation data of a sea test are difficult to obtain, especially in a deep sea area, large-depth circular section motion is carried out, equipment is easy to lose, and reason analysis cannot be carried out through complete sea test data.
Disclosure of Invention
The invention aims to provide a semi-physical simulation system and a semi-physical simulation method for a self-supporting section buoy, so as to make up for the defects of the prior art.
In order to achieve the purpose, the invention adopts the following specific technical scheme:
a semi-physical simulation system for a self-contained profile buoy, comprising:
the buoy hydraulic system is used for simulating the submergence and the floating of the buoy due to the change of the oil quantity of the buoy hydraulic system to cause the change of buoyancy;
the buoy main control system is used for controlling the buoy to perform section movement;
the pressure regulating system is used for providing variable pressure for the buoy hydraulic system to cause oil quantity change;
the simulation control system is used for carrying out simulation experiment state control and data processing;
a controller 1 for transmitting pressure regulation protocol data between the simulation control system and the pressure regulation system;
and the buoy main control system receives data transmitted by the buoy hydraulic system and the simulation control system.
Furthermore, the simulation control system comprises a model calculation module, a pressure tracking module, a sensor data module, a state monitoring module and a data storage module; the model calculation module is used for calculating a self-supporting section buoy dynamics model and outputting related data information to the pressure tracking module and the sensor data module; the data storage module is used for recording model parameters, marine environment parameters, operation parameters and the like and transmitting the data information to the model calculation module; the pressure tracking module realizes pressure feedback and regulation of the pressure regulation system through the controller 1; the sensor data module is used for providing a standard CTD sensor data protocol for the buoy main control system; and the state monitoring module is used for receiving the buoy state and oil mass data fed back by the buoy main control system, monitoring the buoy running state and oil mass data and transmitting the data to the model calculation module.
Further, the buoy master control system feeds back the running state of the buoy to the state monitoring module, and the state monitoring module automatically judges the running state of the buoy, so that the simulation control system automatically switches running stages to perform continuous section testing, and unattended operation of a simulation test is realized; the buoy running state comprises section motion starting, submergence finishing and floating finishing; the operation stage comprises a submergence stage, a floating stage and a communication stage.
Further, the semi-physical simulation system further comprises a controller 2, which is used for transmitting switching value control protocol data; the simulation control system comprises a switching value monitoring module; a state protocol and a control protocol are transmitted between the switching value monitoring module and the controller 2; and the switching value monitoring module transmits related data to the model calculation module.
Furthermore, the model calculation module, the data storage module, the switching value monitoring module, the pressure tracking module, the sensor data module and the state monitoring module are enabled to operate independently in a multitask mode; the simulation control system is in data communication with the controller 1, the controller 2 and the buoy main control system in real time; the timing calculation time of the simulation system is adjusted, the simulation of the self-supporting profile buoy in the ocean is realized, the simulation test speed is increased, and the simulation efficiency is improved.
Further, the pressure tracking module realizes real-time pressure tracking of the pressure regulating system through PID algorithm control.
Furthermore, through a sensor data module, the depth calculated by the model calculation module and the seawater temperature, seawater salinity and seawater conductivity corresponding to the depth jointly form a standard CTD sensor data protocol, so that the buoy main control system can acquire real CTD sensor data.
The simulation method of the semi-physical simulation system based on the self-supporting profile buoy comprises the following steps:
the buoy master control system feeds back the running state of the buoy to the state monitoring module, when the running state of the buoy is the section motion starting, the simulation control system enters a submergence stage, and hydraulic oil of the pressure regulating system enters a buoy hydraulic system to complete submergence; when the buoy is in a submergence completion state, the simulation control system enters a floating-up stage, and hydraulic oil of a buoy hydraulic system enters a pressure adjusting system to complete floating-up; when the buoy is in a floating state, the simulation control system enters a communication stage; the state monitoring module automatically judges the running state of the buoy, so that the simulation control system automatically switches the running stage to perform continuous section testing, and unattended operation of the simulation test is realized.
Further, the simulation method specifically includes:
after the buoy main control system starts the profile movement, the buoy running state is switched to the profile movement starting state and is transmitted to the state monitoring module through the serial port, so that the simulation control system enters a submergence stage; hydraulic oil of the pressure adjusting system enters the buoy hydraulic system, the oil quantity of the pressure adjusting system is reduced, the oil quantity value collected by the buoy main control system is reduced, and the oil quantity value is transmitted to the state monitoring module through the serial port; when the gravity of the buoy is larger than the buoyancy of the buoy, the buoy is simulated to submerge, and the depth is increased; when the oil quantity value is smaller than the set target oil quantity value, oil return is stopped;
the model calculation module inputs model parameters, marine environment parameters and oil mass values and calculates output operation parameters; the data storage module stores the operation parameters in real time; dividing the depth value calculated by the model calculation module by 100 to obtain a target pressure value, obtaining an actual measurement pressure value of the pressure regulation system by the pressure tracking module through a pressure acquisition protocol of the controller 1, inputting the target pressure value and the actual measurement pressure value into the PID controller together, outputting a current value by the PID controller to form a pressure control protocol, sending the pressure control protocol to the pressure regulation system through the controller 1, regulating the pressure of the pressure regulation system in real time, applying the pressure to an interface of the buoy hydraulic system and the pressure regulation system, simulating the external pressure change of the buoy hydraulic system, and realizing the real-time pressure tracking of the pressure regulation system; the depth value, the seawater temperature, the seawater salinity and the seawater conductivity which are obtained by calculation of the model calculation module are provided for the buoy main control system through a standard CTD sensor data protocol which is formed by the sensor data module;
The buoy main control system analyzes a standard CTD sensor data protocol to obtain a depth value, when the buoy submerges to the depth value which is equal to a set submerging target depth value, the running state of the buoy is submerging completion and is transmitted to a state monitoring module through a serial port, and the simulation control system enters a floating stage; hydraulic oil of a buoy hydraulic system enters a pressure adjusting system, the oil quantity of the pressure adjusting system is increased, the oil quantity value acquired by a buoy main control system is increased, and the oil quantity value is transmitted to a state monitoring module through a serial port; when the buoyancy of the buoy is larger than the gravity of the buoy, the buoy floats upwards, and the depth is reduced; when the oil quantity value is larger than the set target oil quantity value, oil discharge is stopped; and after the buoy main control system analyzes the standard CTD sensor data protocol, acquiring a depth value, and when the depth value is equal to the set floating target depth value, finishing floating of the buoy in the operating state, and enabling the simulation control system to enter a communication stage.
Furthermore, the pressure regulating system can be controlled by the switching value monitoring module, the switching value indication and the switching value control of the pressure regulating system are realized by transmitting a state protocol and a control protocol through the controller 2, and the pressure regulating system is controlled to enter a working state.
The invention has the advantages and beneficial effects that:
The invention provides a semi-physical simulation system and a semi-physical simulation method of a self-supporting profile buoy based on dynamics simulation, algorithm control and automation principles, which simulate the profile movement of the buoy approaching the marine environment in a laboratory, perform constant pressure test, power consumption test, control algorithm verification and the like, and have positive effects on the improvement of the reliability and stability of an Argo profile buoy hydraulic system and a main control system, the reduction of the marine test cost and the optimization of the power consumption of the whole machine.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the system of the present invention.
FIG. 2 is a diagram of a simulation control system according to the present invention.
Detailed Description
The invention is further explained and illustrated by the following specific examples in conjunction with the drawings of the specification.
Example 1
The embodiment provides a semi-physical simulation system of a self-supporting profile buoy, and as shown in fig. 1, the system comprises a buoy main control system, a buoy hydraulic system, a pressure regulation system and a simulation control system; the buoy main control system is used for controlling the buoy hydraulic system to discharge oil and return oil, and the buoyancy changes due to the oil quantity change of the buoy hydraulic system; when the gravity of the buoy is larger than the buoyancy of the buoy, the buoy submerges; when the buoyancy of the buoy is larger than the gravity, the buoy floats upwards; a pressure regulation system for providing a varying pressure to the buoy hydraulic system; the controller 1 is used for transmitting a pressure regulation protocol; the controller 2 is used for transmitting a switching value control protocol; the simulation control system comprises a model calculation module, a switching value monitoring module, a pressure tracking module, a sensor data module, a state monitoring module and a data storage module.
The following describes each module in detail, as shown in fig. 2:
the model calculation module is used for calculating a self-supporting profile buoy dynamics model, inputting model parameters and marine environment parameters and obtaining various operating parameters of the buoy in the sea in real time; the data storage module is used for recording model parameters, marine environment parameters and operation parameters, wherein the model parameters comprise gravity acceleration, buoy mass and resistance coefficient; the marine environment parameters comprise seawater temperature and seawater density, and seawater salinity and seawater conductivity are calculated; the operating parameters include buoyancy, resistance, acceleration, velocity, depth.
The switching value monitoring module realizes switching value indication and control on the pressure regulating system through the controller 2; the switching value comprises a remote loading, a stop valve, an oil cooling power supply and a motor power supply.
The pressure tracking module realizes pressure feedback and regulation of the pressure regulation system through the controller 1, and monitors and regulates the pressure of the pressure regulation system in real time.
The sensor data module is used to provide a standard CTD sensor data protocol to the self-contained profile buoy.
The state monitoring module is used for monitoring the running state and oil quantity data of the self-sustaining section buoy, and automatically switches the running stage through the running state of the buoy returned by the buoy main control system; the buoy running state comprises section motion starting, submergence finishing and floating finishing; the operation stage comprises a submergence stage, a floating stage and a communication stage.
The pressure tracking module realizes real-time pressure tracking of the pressure regulating system through PID algorithm control.
The buoy master control system feeds back the running state of the buoy to the state monitoring module, and when the running state of the buoy is the section motion starting, the simulation control system enters a submergence stage; when the buoy is in a submergence completion state, the simulation control system enters a floating stage; when the buoy is in a floating state, the simulation control system enters a communication stage; the state monitoring module automatically judges the running state of the buoy, so that the simulation control system automatically switches the running stage to perform continuous section testing, and unattended operation of the simulation test is realized.
Through a multi-task mode, a model calculation module, a data storage module, a switching value monitoring module, a pressure tracking module, a sensor data module and a state monitoring module of the simulation control system independently run in parallel, and the simulation control system is in data communication with the controller 1, the controller 2 and the buoy main control system in real time; the timing calculation time of the simulation system is adjusted, the simulation of the self-supporting profile buoy in the ocean is realized, the simulation test speed is increased, and the simulation efficiency is improved.
And through the sensor data module, the depth calculated by the model calculation module and the seawater temperature, seawater salinity and seawater conductivity corresponding to the depth jointly form a standard CTD sensor data protocol, so that the buoy main control system can acquire real CTD sensor data.
Example 2
Based on the above semi-physical simulation system for the self-sustaining profile buoy, the embodiment further provides a semi-physical simulation method:
the switching value monitoring module is used for realizing switching value indication and switching value control of the pressure regulating system by transmitting a state protocol and a control protocol through the controller 2; the switching value comprises a remote loading, a stop valve, an oil cooling power supply and a motor power supply; firstly, electrifying a pressure regulating system, starting an oil cooling power supply, and radiating hydraulic oil of the pressure regulating system; secondly, opening remote loading to enable the pressure regulating system to load pressure; then, opening a stop valve to enable the pressure adjusting system to be communicated with an oil way of the buoy hydraulic system; and finally, turning on a power supply of the motor and starting tracking to enable the pressure adjusting system to automatically track the target pressure value of the buoy hydraulic system, and enabling the pressure adjusting system to enter a working state.
After the buoy main control system starts the profile movement, the buoy running state is switched to the profile movement starting state and is transmitted to the state feedback module through the serial port, so that the simulation control system enters a submergence stage; during oil return, hydraulic oil of the pressure adjusting system enters the buoy hydraulic system, the oil quantity of the pressure adjusting system is reduced, the oil quantity value is transmitted to the state feedback module through the serial port, and the oil quantity value collected by the buoy main control system is reduced; when the gravity of the buoy is larger than the buoyancy of the buoy, the buoy submerges and the depth is increased; and when the oil quantity value is smaller than the set target oil quantity value, stopping oil return.
The model calculation module inputs model parameters, marine environment parameters and oil mass values and calculates output operation parameters; the data storage module stores the operation parameters in real time; the model parameters comprise gravity acceleration, buoy mass and resistance coefficient; the marine environment parameters comprise seawater temperature and seawater density, and seawater salinity and seawater conductivity are calculated; the operating parameters include buoyancy, resistance, acceleration, velocity, depth.
The depth value calculated by the model calculation module is divided by 100 to obtain a target pressure value, the pressure tracking module obtains an actual measurement pressure value of the pressure regulation system through a pressure acquisition protocol of the controller 1, the target pressure value and the actual measurement pressure value are input into the PID controller together, a pressure control protocol is formed by output current values of the PID controller and is sent to the pressure regulation system through the controller 1, the pressure of the pressure regulation system is regulated in real time, the pressure is applied to an interface of the buoy hydraulic system and the pressure regulation system, external pressure change of the buoy hydraulic system is simulated, and real-time pressure tracking of the pressure regulation system is achieved.
The depth value, the seawater temperature, the seawater salinity and the seawater conductivity which are obtained by calculation of the model calculation module are provided for the buoy main control system by forming a standard CTD sensor data protocol in real time through the sensor data module, and the format is as follows: t% 8.4f p% 8.3f c% 7.4f s% 7.4f \ r \ n (t is temperature, p is depth, c is conductivity, s is salinity).
The buoy main control system analyzes a standard CTD sensor data protocol to obtain a depth value, when the buoy submerges to the depth value equal to a set submerging target depth value, the running state of the buoy is submerging completion and is transmitted to a state feedback module through a serial port, and the simulation control system enters a floating stage; when oil is discharged, hydraulic oil of a buoy hydraulic system enters a pressure adjusting system, the oil quantity of the pressure adjusting system is increased, the oil quantity value collected by a buoy main control system is increased, and the oil quantity value is transmitted to a state feedback module through a serial port; when the buoyancy of the buoy is larger than the gravity of the buoy, the buoy floats upwards, and the depth is reduced; when the oil quantity value is larger than the set target oil quantity value, oil discharge is stopped; and after the buoy main control system analyzes the standard CTD sensor data protocol, acquiring a depth value, and when the buoy floats to the depth value which is equal to the set floating target depth value, the running state of the buoy is floating completion, and the simulation control system enters a communication stage.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (10)
1. A semi-physical simulation system for a self-contained profile buoy, the system comprising:
the buoy hydraulic system is used for simulating the submergence and the floating of the buoy due to the change of the oil quantity of the buoy hydraulic system to cause the change of buoyancy;
the buoy main control system is used for controlling the buoy to perform section movement;
the pressure regulating system is used for providing variable pressure for the buoy hydraulic system to cause oil quantity change;
the simulation control system is used for carrying out simulation experiment state control and data processing;
a controller 1 for transmitting pressure regulation protocol data between the simulation control system and the pressure regulation system;
and the buoy main control system receives data transmitted by the buoy hydraulic system and the simulation control system.
2. The simulation system of claim 1, wherein the simulation control system comprises a model calculation module, a pressure tracking module, a sensor data module, a condition monitoring module, a data storage module; the model calculation module is used for calculating a self-supporting section buoy dynamics model and outputting related data information to the pressure tracking module and the sensor data module; the data storage module is used for recording model parameters, marine environment parameters, operation parameters and the like and transmitting the data information to the model calculation module; the pressure tracking module realizes pressure feedback and regulation of the pressure regulation system through the controller 1; the sensor data module is used for providing a standard CTD sensor data protocol for the buoy main control system; and the state monitoring module is used for receiving the buoy state and oil mass data fed back by the buoy main control system, monitoring the buoy running state and oil mass data and transmitting the data to the model calculation module.
3. The simulation system of claim 2, wherein the buoy master control system feeds back the running state of the buoy to the state monitoring module, and the state monitoring module automatically judges the running state of the buoy, so that the simulation control system automatically switches running stages to perform continuous section testing, thereby realizing unattended operation of a simulation test; the buoy running state comprises section motion starting, submergence finishing and floating finishing; the operation stage comprises a submergence stage, a floating stage and a communication stage.
4. The simulation system of claim 2, wherein the semi-physical simulation system further comprises a controller 2 for transmitting switching volume control protocol data; the simulation control system comprises a switching value monitoring module; a state protocol and a control protocol are transmitted between the switching value monitoring module and the controller 2; and the switching value monitoring module transmits related data to the model calculation module.
5. The simulation system of claim 2, wherein the model calculation module, the data storage module, the switching value monitoring module, the sensor data module, and the state monitoring module are independently operated in a multitasking manner; the simulation control system is in real-time data communication with the controller 1, the controller 2 and the buoy main control system.
6. The simulation system of claim 2, wherein the pressure tracking module performs real-time pressure tracking of the pressure regulation system through PID algorithm control.
7. The simulation system of claim 2, wherein the depth calculated by the model calculation module and the seawater temperature, seawater salinity and seawater conductivity corresponding to the depth form a standard CTD sensor data protocol together through a sensor data module, so that the buoy main control system collects real CTD sensor data.
8. A simulation method of a simulation system according to claim 1 or 2, characterized in that the method is:
the buoy master control system feeds back the running state of the buoy to the state monitoring module, when the running state of the buoy is the section motion starting, the simulation control system enters a submergence stage, and hydraulic oil of the pressure regulating system enters a buoy hydraulic system to complete submergence; when the buoy is in a submergence completion state, the simulation control system enters a floating-up stage, and hydraulic oil of a buoy hydraulic system enters a pressure adjusting system to complete floating-up; when the buoy is in a floating state, the simulation control system enters a communication stage; the state monitoring module automatically judges the running state of the buoy, so that the simulation control system automatically switches the running stage to perform continuous section testing, and unattended operation of the simulation test is realized.
9. The simulation method according to claim 8, wherein the simulation method is specifically:
after the buoy main control system starts the profile movement, the buoy running state is switched to the profile movement starting state and is transmitted to the state monitoring module through the serial port, so that the simulation control system enters a submergence stage; hydraulic oil of the pressure adjusting system enters the buoy hydraulic system, the oil quantity of the pressure adjusting system is reduced, the oil quantity value collected by the buoy main control system is reduced, and the oil quantity value is transmitted to the state monitoring module through the serial port; when the gravity of the buoy is larger than the buoyancy of the buoy, the buoy is simulated to submerge, and the depth is increased; when the oil quantity value is smaller than the set target oil quantity value, oil return is stopped;
the model calculation module inputs model parameters, marine environment parameters and oil mass values and calculates output operation parameters; the data storage module stores the operation parameters in real time; dividing the depth value calculated by the model calculation module by 100 to obtain a target pressure value, obtaining an actual measurement pressure value of the pressure regulation system by the pressure tracking module through a pressure acquisition protocol of the controller 1, inputting the target pressure value and the actual measurement pressure value into the PID controller together, outputting a current value by the PID controller to form a pressure control protocol, sending the pressure control protocol to the pressure regulation system through the controller 1, regulating the pressure of the pressure regulation system in real time, applying the pressure to an interface of the buoy hydraulic system and the pressure regulation system, simulating the external pressure change of the buoy hydraulic system, and realizing the real-time pressure tracking of the pressure regulation system; the depth value, the seawater temperature, the seawater salinity and the seawater conductivity which are obtained by calculation of the model calculation module are provided for the buoy main control system through a standard CTD sensor data protocol which is formed by the sensor data module;
The buoy main control system analyzes a standard CTD sensor data protocol to obtain a depth value, when the buoy submerges to the depth value which is equal to a set submerging target depth value, the running state of the buoy is submerging completion and is transmitted to a state monitoring module through a serial port, and the simulation control system enters a floating stage; hydraulic oil of a buoy hydraulic system enters a pressure adjusting system, the oil quantity of the pressure adjusting system is increased, the oil quantity value acquired by a buoy main control system is increased, and the oil quantity value is transmitted to a state monitoring module through a serial port; when the buoyancy of the buoy is larger than the gravity of the buoy, the buoy floats upwards, and the depth is reduced; when the oil quantity value is larger than the set target oil quantity value, oil discharge is stopped; and after the buoy main control system analyzes the standard CTD sensor data protocol, acquiring a depth value, and when the depth value is equal to the set floating target depth value, finishing floating of the buoy in the operating state, and enabling the simulation control system to enter a communication stage.
10. The simulation method of claim 9, wherein the pressure regulation system is further controlled by a switching value monitoring module, and the controller 2 transmits a status protocol and a control protocol to realize switching value indication and switching value control of the pressure regulation system, so as to control the pressure regulation system to enter the working state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010692964.2A CN111856967B (en) | 2020-07-17 | 2020-07-17 | Semi-physical simulation system and method for self-sustaining profile buoy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010692964.2A CN111856967B (en) | 2020-07-17 | 2020-07-17 | Semi-physical simulation system and method for self-sustaining profile buoy |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111856967A true CN111856967A (en) | 2020-10-30 |
| CN111856967B CN111856967B (en) | 2024-01-12 |
Family
ID=73001200
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010692964.2A Active CN111856967B (en) | 2020-07-17 | 2020-07-17 | Semi-physical simulation system and method for self-sustaining profile buoy |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111856967B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113757063A (en) * | 2021-08-13 | 2021-12-07 | 清华大学 | Power generation structure of profile buoy based on thermoelectric energy power generation driving, application method and simulation method thereof |
| CN116007977A (en) * | 2023-03-17 | 2023-04-25 | 天津大学 | Operation simulation method suitable for automatic lifting device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10001033A1 (en) * | 2000-01-13 | 2001-07-19 | Mercedes Benz Lenkungen Gmbh | Actuator divides each cylinder space into two subchambers by hydraulic power-steering disks axially free between piston and cylinder head plus connection line to each subchamber. |
| CN108327855A (en) * | 2018-01-17 | 2018-07-27 | 天津大学 | Deep-sea buoyancy regulating system and its method |
| CN210375734U (en) * | 2019-07-31 | 2020-04-21 | 天津大学 | High-pressure environment simulation test bed for detecting buoy buoyancy adjusting system |
| CN111208269A (en) * | 2020-03-04 | 2020-05-29 | 中国海洋大学 | Low-cost offshore culture water quality monitoring system and method |
| CN111252194A (en) * | 2018-11-30 | 2020-06-09 | 青岛海洋科学与技术国家实验室发展中心 | Profile buoy control method and profile buoy |
-
2020
- 2020-07-17 CN CN202010692964.2A patent/CN111856967B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10001033A1 (en) * | 2000-01-13 | 2001-07-19 | Mercedes Benz Lenkungen Gmbh | Actuator divides each cylinder space into two subchambers by hydraulic power-steering disks axially free between piston and cylinder head plus connection line to each subchamber. |
| CN108327855A (en) * | 2018-01-17 | 2018-07-27 | 天津大学 | Deep-sea buoyancy regulating system and its method |
| CN111252194A (en) * | 2018-11-30 | 2020-06-09 | 青岛海洋科学与技术国家实验室发展中心 | Profile buoy control method and profile buoy |
| CN210375734U (en) * | 2019-07-31 | 2020-04-21 | 天津大学 | High-pressure environment simulation test bed for detecting buoy buoyancy adjusting system |
| CN111208269A (en) * | 2020-03-04 | 2020-05-29 | 中国海洋大学 | Low-cost offshore culture water quality monitoring system and method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113757063A (en) * | 2021-08-13 | 2021-12-07 | 清华大学 | Power generation structure of profile buoy based on thermoelectric energy power generation driving, application method and simulation method thereof |
| CN116007977A (en) * | 2023-03-17 | 2023-04-25 | 天津大学 | Operation simulation method suitable for automatic lifting device |
| CN116007977B (en) * | 2023-03-17 | 2023-07-04 | 天津大学 | Operation simulation method suitable for automatic lifting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111856967B (en) | 2024-01-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101630376B (en) | Soft-sensing modeling method and soft meter of multi-model neural network in biological fermentation process | |
| CN111856967B (en) | Semi-physical simulation system and method for self-sustaining profile buoy | |
| CN100583105C (en) | Ship movement control algorithm test and emulation system | |
| CN105842412A (en) | Water environment vertical distribution comprehensive on-line monitoring buoy and monitoring system | |
| Svendsen et al. | Model simulation of the Skagerrak circulation and hydrography during SKAGEX | |
| CN107944648A (en) | A kind of accurate Forecasting Methodology of large ship speed of a ship or plane rate of fuel consumption | |
| CN106950879B (en) | A kind of water temperature of reservoir information monitoring system and method | |
| CN109060296A (en) | A kind of mixing model test platform for deep-sea platform vibration control | |
| CN104090497B (en) | Dynamic positioning system analogue system and method for work thereof for ocean engineering field | |
| CN106970631A (en) | A kind of method of unmanned boat Automatic-searching pollution sources | |
| CN110703601A (en) | Buoy depth control algorithm based on fuzzy control and Kalman filtering | |
| CN100394163C (en) | Flexible measuring method for overflow particle size specification of ball mill grinding system | |
| Zhou et al. | Designated area persistent monitoring strategies for hybrid underwater profilers | |
| CN113883031B (en) | Power generation control method of profile buoy driven by thermoelectric energy power generation | |
| Craig et al. | Sigma-zed: A computationally efficient approach to reduce the horizontal gradient error in the EFDC’s vertical sigma grid | |
| CN206906603U (en) | Sediment acoustics field measurement apparatus | |
| CN111159959B (en) | Intelligent ship motion simulation method based on Simulink and Fluent | |
| Huang et al. | Development and experiments of the passive buoyancy balance system for sea-whale 2000 AUV | |
| CN103645642A (en) | Operation simulation platform for ship dynamic positioning | |
| CN100397405C (en) | Land source sewage discharging quantity inversion method based on variation algorithm | |
| CN113378491A (en) | Deep sea Argo buoy energy consumption parameter sensitivity analysis method | |
| CN114201933A (en) | Method for simulating resource distribution condition of fish in early stage | |
| CN111781840A (en) | Model-free self-adaptive water mixing temperature control system and method based on deep reinforcement learning | |
| CN110246407A (en) | A kind of experimental provision of simulated seawater pressure energy operating equipment | |
| CN109614726A (en) | A kind of buoyancy adjustment Low-power-consumptiocontrol control method based on genetic algorithm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |