CN113212660A

CN113212660A - Ocean anchorage buoy observation control system, method, device and application

Info

Publication number: CN113212660A
Application number: CN202110070996.3A
Authority: CN
Inventors: 孙宝楠; 梁冠辉; 官晟; 吴伟; 薛宇欢; 王海员; 庄展鹏
Original assignee: First Institute of Oceanography MNR
Current assignee: First Institute of Oceanography MNR
Priority date: 2021-01-19
Filing date: 2021-01-19
Publication date: 2021-08-06

Abstract

The invention belongs to the technical field of marine observation equipment, and discloses a marine anchorage buoy observation control system, a method, a device and application, wherein the marine anchorage buoy observation control system comprises: the system comprises a buoy body, a sensor subsystem, a satellite communication subsystem, a main control subsystem, a data acquisition subsystem, a mooring subsystem, an energy control subsystem, a safety subsystem and a shore-based data receiving station. The ocean anchorage buoy observation control system provided by the invention is an installation carrier of an ocean monitoring instrument, can be a comprehensive observation system for acquiring ocean atmosphere observation data, and can provide meteorological hydrological data such as conventional wind speed, profile wind speed and wind direction, air temperature, relative humidity, air pressure, seawater temperature, seawater salinity, seawater flow velocity, seawater flow direction and the like at regular time. The marine anchorage buoy observation control system provided by the invention has high requirements on digital sampling, system control, data acquisition, storage and processing functions, has good stability and can meet the requirements of marine working environments.

Description

Ocean anchorage buoy observation control system, method, device and application

Technical Field

The invention belongs to the technical field of marine observation equipment, and particularly relates to an observation control system, method and device for a marine anchorage buoy and application.

Background

At present, ocean observation can provide necessary measured data support for developing fishing port refined forecast service and numerical value post-forecast simulation, improve fishing port refined forecast precision and service refinement degree, and improve fishery typhoon-prevention wind-sheltering scientific decision-making command capability. The marine observation factors comprise tidal height, tidal time, wave height, wave direction and wave period. The meteorological observation elements mainly observe wind speed and wind direction, and observe temperature, humidity, air pressure, precipitation and the like. The three-axis accelerometer and the inclination and electronic compass integrated sensor are adopted to measure the wave following operation of the buoy, and the time sequence of the wave height is obtained through digital filtering and frequency domain secondary integration, so that the method has the characteristics of high precision, strong reliability, good stability, low power consumption and the like.

Meanwhile, buoys arranged on large water surfaces such as oceans, rivers, lakes and the like can not only indicate channels and potential dangers, but also assist researchers in tracking and researching hydrological weather conditions, monitoring whale sounds and even assisting military in detecting underwater submarines. Ocean buoy observation technology is mature day by day, a special buoy is a good embodiment of buoy observation technology level, is also a mark of comprehensive strength, technical level and innovation capability in the aspects of research, manufacture and application of ocean data buoys in all countries of the world, and represents that the result comprises an ocean profile buoy, an offshore wind profile buoy, a tsunami buoy, a wave buoy, an optical buoy and the like, but each buoy has low data acquisition frequency and less acquired data, and measurement of the own state (geographical position and surrounding environment) of the buoy is ignored. Therefore, a new observation control system for the marine anchorage buoy is needed.

Through the above analysis, the problems and defects of the prior art are as follows: in the existing buoy observation technology, the data acquisition frequency of each buoy is not high, the acquired data are less, and the measurement of the own state (geographical position and surrounding environment) of the buoy is often ignored.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides an observation control system, method, device and application of an ocean anchorage buoy.

The invention is realized in this way, an ocean anchorage buoy observation control system, which includes:

the buoy body is used for providing buoyancy for the whole buoy and ensuring the buoy to normally work on the sea surface; the buoy instrument cabin is arranged in the buoy body, and the buoy body has a protection effect on the buoy data collector equipment;

the sensor subsystem comprises a marine meteorological sensor and comprises: the system comprises a laser wind measuring sensor, a solar radiation sensor, an air temperature sensor, a relative humidity sensor, an air pressure sensor and an ultrasonic wind measuring sensor; the hydrological sensor comprises: ocean current sensors and temperature and depth sensors; the laser wind measuring sensor is used for measuring the three-dimensional wind speed and the three-dimensional wind direction of any height above the buoy, and can measure data of 6 height layers at most within the height measuring range during measurement; the solar radiation sensor is used for measuring the total solar radiation value of the sea area where the buoy is located; the air temperature sensor is used for measuring the atmospheric temperature at the installation height of the air temperature sensor; the relative humidity sensor is used for measuring the relative humidity at the installation height of the relative humidity sensor; the air pressure sensor is used for measuring the atmospheric pressure at the installation height of the air pressure sensor; the ultrasonic wind measuring sensor is used for measuring the wind speed and the wind direction at the installation height; the ocean current sensor is arranged on the buoy anchor system and used for measuring the flow velocity and the flow direction of ocean current at a fixed depth below the sea surface; the temperature depth sensor is arranged on the buoy anchor system and used for measuring the temperature of the seawater at a fixed depth below the sea surface;

the satellite communication subsystem adopts a Beidou satellite communication system and is used for transmitting the working state of the buoy, including the buoy position, the power supply system state, the working state of the sensor and the working state of the buoy data collector;

the control subsystem is used for controlling the on-off of the power supplies of the sensor and the data collector, so that all electronic equipment is in a power-off state when not in work, and the power consumption of the whole buoy system is reduced; the buoy comprises an ARM controller and relays, wherein the ARM controller controls the on-off of each relay coil according to the working flow of the buoy, and the relays directly control the on-off of power supply of each electronic device of the buoy;

the mooring subsystem is used for carrying an inductive coupling transmission system and transmitting the data of the underwater sensor to the buoy data acquisition subsystem; anchoring the buoy to prevent the buoy from leaving the distribution sea area;

the energy control subsystem is used for supplying power to the electronic equipment of the whole buoy; in the power supply process, distributed discharge management is carried out on a power supply, so that the buoy energy utilization rate is improved; carrying out charging type distributed charging management on the storage battery on the solar panel;

and the safety subsystem is used for sending position information to the shore base station at regular time and can perform early warning and positioning functions after the buoy leaves the laying sea area.

Further, the sensor subsystem is composed of a meteorological module and a hydrological module;

the weather module includes a weather sensor, and the hydrology module includes a sea sensor.

Further, the satellite communication subsystem comprises a satellite communication module and a communication software module; the satellite communication module converts data to be transmitted into electromagnetic wave signals and transmits the electromagnetic wave signals to a shore-based data receiving station; the satellite communication software encodes data to be transmitted according to a satellite communication protocol;

the data acquisition subsystem consists of a control management center and an inductive coupling transmission module; the sensor data is collected, processed and stored, and the inductive coupling transmission module is used for transmitting the data of the underwater hydrological sensor to the buoy data collector.

Further, the mooring subsystem selects a single-point mooring chain cable hybrid anchoring system according to the type of the buoy and the laying station, and the single-point mooring chain cable hybrid anchoring system comprises a buoyancy unit, a rope, a linking part and an anchoring block; wherein every two adjacent parts are linked through a linking part, and finally the whole mooring subsystem is connected to the bottom of the buoy;

the steel cable is an inductive coupling steel cable;

the buoyancy unit adopts the configuration of the combination of a main floating body and an auxiliary floating body;

the rope is combined and configured by a plastic-coated steel cable, a nylon rope and an anchor chain, and is an important supporting component of the measuring instrument;

the link parts are used for connecting systems and comprise shackles, lifting rings and rotating rings;

the anchor block is as follows: the gravity anchor, the gripping anchor and the anchor chain are combined and configured.

Further, the energy control subsystem comprises control software, a solar battery controller, a solar panel and a rechargeable battery; the system is provided with a photovoltaic module, an array junction box, a controller, an inverter, a storage battery and a system state monitoring interface;

the safety subsystem comprises a radar reflector, a Beidou antenna and a lightning rod;

the solar controller is arranged in an equipment cabin of the buoy, control software runs on the solar controller, the solar panel is arranged on a buoy tower frame, the storage battery is arranged in the equipment cabin of the buoy, and all the solar panel and the storage battery are connected to the array junction box and then are gathered and connected into the solar controller;

the radar reflector, the Beidou antenna and the lightning rod are respectively arranged at the upper part of the buoy tower;

the buoy tower is arranged on the upper part of the buoy body through screws, and the lower frame is fixed on the lower part of the buoy body through screws;

eight solar panels are divided into two groups, one group is arranged on the buoy upper frame, and the other group is arranged on the buoy body;

the balance weight and the sacrificial anode are arranged on the channel steel of the lower buoy frame, and the anchoring connection device is arranged at the lowest end of the lower buoy frame.

Further, the buoy body adopts a disc type structure and comprises a tower frame, a buoy body and a lower frame;

various sensors and solar panels are carried on the tower, and the tower is made of cast aluminum;

the buoy body comprises a floating body and a cabin body; the floating body is made of PE material, and polyurea is sprayed on the surface of the floating body; the cabin body comprises an instrument cabin and a battery cabin and is made of stainless steel;

the lower frame supports the whole floating body and is provided with a balance weight, a sacrificial anode and an anchoring system connecting device.

Another object of the present invention is to provide an observation control method for a marine anchorage buoy, which operates the observation control system for a marine anchorage buoy, the observation control method for a marine anchorage buoy comprising:

(1) estimating the gravity center and the floating center;

(2) calculating initial stability;

(3) and calculating the stability of the large inclination angle.

Further, the initial stability calculation method includes: when the buoy inclines at a small inclination angle, the buoyancy action lines before and after the inclination all pass through the M point, and the M point is called as the initial stable center of the buoy,

referred to as the initial stable heart radius; the radius r of the stable center is the vertical distance between the stable center and the floating center, and under the condition of slight inclination, the calculation formula is as follows:

in the formula I_XThe area moment of inertia of the cross section area of the floating body at the waterline to the centroid X axis of the floating body; v is the water displacement volume of the buoy; i is_XThe calculation formula of (2):

in the formula, D₁Is the diameter of the buoy at the waterline;

in the initial stability calculation, the calculation formula of initial stability is as follows:

H_S＝Z_S-Z_g＝Z_b+r-Z_g；

in the formula, H_sRepresenting the initial heart fixation height; z_sRepresents a stable center vertical coordinate; z_bRepresenting the vertical coordinate of the floating center; r represents the radius of the metacentric; z_gRepresenting the vertical coordinate of the center of gravity; z_bAnd Z_gThe method can be obtained through the statistics of a buoy design diagram, and the buoy parameters in the text are substituted into the parameters to obtain the radius of the center of stability of the buoy through calculation;

the reasonability of initial steady and high design of the buoy is judged by calculating the roll inherent period of the buoy, and the roll inherent period of the buoy is calculated according to a formula:

in the formula (I), the compound is shown in the specification,

the inherent movement period of the buoy; j is the moment of inertia of the buoy relative to the X axis; delta J is the moment of inertia of the float body attached water mass relative to the X axis, and is approximately equal to 0.2J; rho is the density of the seawater;

and (3) solving the maximum roll angle of the buoy under the condition that the roll angle and the wave slope are small through the inherent movement period of the buoy:

in the formula, H represents the maximum wave height of the wave in the sea area where the buoy is located, L represents the wavelength of the wave in the sea area where the buoy is located, and T represents the wave period of the wave in the sea area where the buoy is located;

substituting the designed buoy parameters and the planned sea area parameters into the inherent period of buoy rolling and the free maximum rolling angle in waves;

the method for calculating the stability of the large inclination angle comprises the following steps:

1) calculating the static force arm of the buoy by adopting a variable displacement calculation method to obtain a curve of the static force arm of the buoy changing along with the inclination angle, and integrating the curve of the static force arm to obtain a curve of the dynamic force arm of the buoy; in equilibrium, the buoy is floating on the waterline W₀L₀When the buoy is transversely inclined

The inclined waterline at an angle is

And balanced with the waterline W₀L₀Intersect at point O; NN' is a reference axis for calculating the static moment of tilt through the O point;

inclined waterline

The following formula for calculating the volume of water to be drained:

in the formula (I), the compound is shown in the specification,

represents the volume of buoy displacement under the inclined waterline; delta₀Representing the displacement volume of the buoy in the balanced state; v₁Representing the wedge-shaped volume of the buoy entering the water during the transverse inclination; v₂Representing the wedge-shaped volume of the water outlet of the buoy when the buoy tilts;

according to the principle of resultant moment,

volume static moment for NN':

in the formula I₁Wedge V for buoy water inlet₁Buoyancy action line and inclined waterline

The distance from the intersection point A to the rotation point O; l₂For buoy water outlet wedge-shaped V₂Gravity action line and inclined waterline

The distance from the intersection point B to the rotation point O; l₀For a buoy to be flatVolume of water displaced delta at constant state₀Buoyancy action line and inclined waterline

The distance from the intersection point F of (A) to the rotation point O;

the buoy floats on the inclined waterline

The distance from the buoyancy action line to the axis NN' is:

wherein l₀The calculation formula of (2):

the calculation formula of the stationarity moment arm of the buoy is as follows:

d₀refers to the draft of the buoy in a balanced state; KB₀Refers to the floating center B of the buoy in the balanced state₀Distance to center K of the cross section bottom of the buoy; KG is the distance from the center of gravity G to the center K of the bottom of the cross section of the buoy when the buoy is in a balanced state; c is a deviation value which is the distance from the rotation point of the inclined buoy to the center of the waterline in the balanced state; the rotation point is taken at the side of entering water, the deviation value c is determined according to the distance from the waterline of the buoy to the upper edge of the floating body and the draft ratio, and the smaller the ratio is, the larger the deviation is; calculating a stationarity moment arm curve through the calculation process, and integrating the stationarity moment arm curve to obtain a dynamic stability moment arm curve;

2) curve of dynamic stability

The dynamic stability of the buoy is expressed by the work done by the restoring moment; when the buoy transversely inclines to

Time, restoring moment M_RThe change rule of the work and the restoring moment is represented by a stationarity curve;

in the formula, T_RWork done to restore the arm of force; l_dIs a dynamic stability force arm; delta is the displacement; m_RTo restore the force arm; l_sIs a static moment arm; the calculation formula of the moment arm of the dynamic stability is obtained as

The stability balance number calculation formula is as follows:

wherein K is a stability criterion number; l_qIs the minimum overturning moment arm; l_fIs a wind pressure inclined moment arm; the minimum overturning moment arm is obtained through a maximum dynamic stability roll angle and a dynamic stability curve, and the maximum dynamic stability roll angle calculation formula is as follows:

in the formula, C₁、C₂、C₃、C₄The coefficient is obtained by looking up a table according to volume and mass parameters of the buoy: c₁＝1.21、C₂＝0.68、C₃＝0.02、 C₄The maximum roll angle of dynamic stability was found to be 0.885

The method for solving the minimum overturning moment arm by combining the dynamic stability curve comprises the following steps:

the calculation formula of the wind pressure inclined force arm is as follows:

in the formula, A_fThe side projection area of the part above the waterline of the buoy is the wind area of the buoy; z is the distance from the middle and the west of the wind area of the buoy to the waterline and the force arm of wind action; delta is buoy displacement; p is calculated wind pressure and is obtained by looking up a table according to the sea area where the buoy is arranged and the wind force action arm; calculating the wind pressure inclination force arm of the buoy in the text to be 0.2209 m; will find out_qAnd l_fThe stability balance number K of the float is 1.26.

Another object of the present invention is to provide an ocean anchorage buoy observation control device equipped with the ocean anchorage buoy observation control system, the ocean anchorage buoy observation control device including: the system comprises a Beidou communication terminal, an ultrasonic wind measuring sensor, an air temperature sensor, an air pressure sensor, a humidity sensor, an irradiance sensor, an air profiler, an inertial navigation system, an inductive coupling transmission system, a data acquisition unit, a solar battery pack, a solar charging controller and a lead storage battery pack;

the data acquisition unit also comprises a digital quantity port and an analog quantity port; the bin water inlet alarm and the bin cover opening alarm are sent to the data acquisition unit through the analog quantity port, and other data are sent to the data acquisition unit through the digital quantity port by using Rs 485.

The invention also aims to provide ocean observation equipment provided with the ocean anchorage buoy observation control system.

By combining all the technical schemes, the invention has the advantages and positive effects that: the ocean anchorage buoy observation control system provided by the invention is an installation carrier of an ocean monitoring instrument, can be a comprehensive observation system for acquiring ocean atmosphere observation data, and can provide meteorological hydrological data such as conventional wind speed, profile wind speed and wind direction, air temperature, relative humidity, air pressure, seawater temperature, seawater salinity, seawater flow velocity, seawater flow direction and the like at regular time. The system has higher requirements on digital sampling, system control, data acquisition, storage and processing functions, has good stability and can meet the requirements of marine working environments.

Drawings

Fig. 1 is a block diagram of a structure of an observation control system for an ocean anchorage buoy provided by an embodiment of the present invention.

Fig. 2 is a schematic diagram of an observation control system of an ocean anchorage buoy provided by the embodiment of the invention.

Fig. 3 is a schematic diagram of a system of the buoy offshore monitoring station according to an embodiment of the invention.

Fig. 4 is a structural design diagram of a buoy body according to an embodiment of the invention.

Fig. 5 is a schematic view of an ocean/meteorological sensor mounted on a floating body according to an embodiment of the present invention.

Figure 6 is a schematic diagram of an induction transmission cable structure according to an embodiment of the present invention.

Fig. 7 is a schematic diagram of a power supply system provided by an embodiment of the invention.

Fig. 8 is a schematic diagram of buoy initial stability provided by an embodiment of the invention.

Fig. 9 is a schematic view of buoy stationarity provided by an embodiment of the present invention.

FIG. 10 is a graphical illustration of the float stationarity curve provided by an embodiment of the present invention.

FIG. 11 is a graph illustrating the float's dynamic stability according to an embodiment of the present invention.

Fig. 12 is a diagram illustrating a result of dividing the buoy grid according to an embodiment of the present invention.

Fig. 13 is a schematic diagram of a hardware solution of a float control system according to an embodiment of the present invention.

Fig. 14 is a schematic diagram of a two-dimensional improved design of the main floating body provided by the embodiment of the invention.

Fig. 15 is a schematic diagram of a modification of the control cabin provided by the embodiment of the invention.

Fig. 16 is a schematic diagram of a modification of the battery compartment provided by the embodiment of the present invention.

Fig. 17 is a schematic view of a modification of the main body of the float according to the embodiment of the present invention.

Fig. 18 is a design diagram of a lower frame improvement provided by the embodiment of the invention.

Fig. 19 is a diagram showing the overall improvement effect of the floating body provided by the embodiment of the present invention.

Fig. 20 is a schematic structural diagram of an observation control device for an ocean anchorage buoy provided in an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Aiming at the problems in the prior art, the invention provides an observation control system, method and device for an ocean anchorage buoy, and the invention is described in detail below with reference to the accompanying drawings.

As shown in fig. 1, an observation control system for an ocean anchorage buoy provided in an embodiment of the present invention includes: the system comprises a buoy body 1, a sensor subsystem 2, a satellite communication subsystem 3, a main control subsystem 4, a data acquisition subsystem 5, a mooring subsystem 6, an energy control subsystem 7, a safety subsystem 8 and a shore-based data receiving station 9.

The buoy body 1 provides buoyancy support for a buoy, is also used as an instrument carrying platform, adopts a disc type structure and consists of a tower frame, a buoy body and a lower frame; the main functions of the buoy body 1 are: buoyancy is provided for the whole buoy, and the buoy can work normally on the sea surface; the buoy instrument cabin is arranged in the buoy body, and the buoy body has a protection effect on equipment such as a buoy data collector.

(1) A tower: mainly carries various sensors and solar cell panels, and is made of cast aluminum. The strength of the buoy upper frame can be guaranteed, the buoy upper frame has the advantage of low density, the overall gravity center of the buoy can be lowered, and the stability of the buoy is improved.

(2) Marking: comprises a floating body and a cabin body. The floating body is made of PE materials, and polyurea is sprayed on the surface of the floating body, so that the floating body is guaranteed to have sufficient strength and corrosion resistance. The cabin body comprises an instrument cabin and a battery cabin and is made of stainless steel.

(3) Putting down: the whole floating body is supported, and the balance weight, the sacrificial anode, the anchor system connecting device and the like are installed, and the materials of the floating body are the same as those of the cabin body.

The sensor subsystem 2 consists of a meteorological module and a hydrological module; the meteorological module comprises meteorological sensor, the hydrology module comprises ocean sensor. The sensor subsystem 2 comprises a marine meteorological sensor having: the system comprises a laser wind measuring sensor, a solar radiation sensor, an air temperature sensor, a relative humidity sensor, an air pressure sensor and an ultrasonic wind measuring sensor; the hydrological sensor comprises: ocean current sensors and temperature and depth sensors. The laser wind measuring sensor is used for measuring the three-dimensional wind speed and the three-dimensional wind direction at any height between 10m and 200m above the buoy, and can measure data of 6 height layers at most within the height measuring range during measurement; the solar radiation sensor is used for measuring the total solar radiation value of the sea area where the buoy is located; the air temperature sensor is used for measuring the atmospheric temperature at the installation height of the air temperature sensor; the relative humidity sensor is used for measuring the relative humidity at the installation height of the relative humidity sensor; the air pressure sensor is used for measuring the atmospheric pressure at the installation height of the air pressure sensor; the ultrasonic wind measuring sensor is used for measuring the wind speed and the wind direction at the installation height; the ocean current sensor is arranged on the buoy anchor system and used for measuring the flow velocity and the flow direction of ocean current at a fixed depth below the sea surface; the temperature and depth sensor is arranged on the buoy anchor system and used for measuring the temperature of the seawater at a fixed depth below the sea surface.

The satellite communication subsystem 3 is composed of a satellite communication module and communication software. The satellite communication subsystem 3 adopts a Beidou satellite communication system, and has the main functions of transmitting the working state of the buoy, including the buoy position, the power supply system state, the sensor working state, the working state of the buoy data collector and the like.

And the main control subsystem 4 is used for realizing on-off control of the sensor, data transmission control and data processing through the controller. The main function of the main control subsystem 4 is to control the on-off of the sensor and the power supply of the data acquisition unit, so that all electronic equipment is in a power-off state when not in operation, and the power consumption of the whole buoy system is reduced; the buoy control system mainly comprises an ARM controller and relays, wherein the ARM controller controls the on-off of each relay coil according to the working flow of the buoy, and the relays directly control the on-off of power supply of each electronic device of the buoy.

The data acquisition subsystem 5 consists of a control management center and an inductive coupling transmission module.

The mooring subsystem 6 selects a single-point mooring chain cable hybrid anchoring system according to the type of the buoy and the laying station, and consists of a buoyancy unit, ropes (steel ropes and nylon ropes), a linking component and an anchor block. The mooring subsystem 6 has the main functions of: carrying an inductive coupling transmission system, and transmitting the data of the underwater sensor to a buoy data acquisition subsystem; anchoring the buoy to prevent the buoy from leaving the deployment sea area.

(1) Inductively coupled steel cable: the steel cable in the inductive coupling system provided by project topic 3 shallow sea international limited is used.

(2) A buoyancy unit: the buoyancy unit of the system adopts the combined configuration of the main floating body and the auxiliary floating body. The buoyancy unit is configured to tighten the mooring rope, so that the precision requirement of the measuring instrument is met, the tension requirement of the instrument equipment of the system between the underwater posture and the link component is ensured, and the key point for ensuring whether the whole submerged buoy system works normally and is recovered safely is provided. The buoyancy of the system is larger than the sum of the gravity of all the instruments and equipment except the anchoring unit and the gravity of the linking part.

(3) Rope: the mooring rope is an important supporting component of the measuring instrument, and not only meets the requirements of tensile strength of the system, but also meets the safety requirements of possible artificial damage and accidental damage (shark damage and corrosion), and simultaneously also considers the requirement of system counterweight. Therefore, the anchor mooring rope is combined and configured by adopting the plastic-coated steel cable, the nylon rope and the anchor chain.

(4) A link component: the link component is used for connecting systems and mainly comprises a shackle, a lifting ring and a swivel. The hoisting ring and the swivel can not be used independently and are required to be combined with the shackle for use. Because the system is under the action of ocean power and tension change between mooring ropes of the mooring system, the mooring system generates torque, so that the mooring system is twisted and damaged, and a rotating ring is required to be configured to overcome the torque of the system and ensure the safety of the mooring system.

(5) Anchor block: the anchoring of the anchor system adopts the combined configuration of a gravity anchor, a holding power anchor and an anchor chain. The conditions of sliding, rolling and anchor walking caused by terrain conditions are prevented, and the mooring of the system at a specified position is ensured.

The energy control subsystem 7 consists of control software, a solar battery controller, a solar panel and a rechargeable battery; the electric energy generated by the solar cell is stored in the storage battery through the solar controller, and the reliable electric energy is provided for the load through the controller and the inverter at night. This system adopts the pollution-free solar energy power supply system of environmental protection, and solar cell panel is reliable product, system configuration: photovoltaic module, array junction box, controller, inverter, battery, system status monitoring interface. The technical indexes are as follows: the whole photovoltaic system is fully automatically controlled, and manual operation is not needed. The system has multiple protection functions of preventing overcharge, overdischarge, limiting current and the like. The energy control subsystem 7 has the main functions of: power is supplied to the electronic equipment of the whole buoy; in the power supply process, distributed discharge management is carried out on a power supply, and the energy utilization rate of the buoy is improved; the solar cell panel carries out charging type distributed charging management on the storage battery, charging efficiency of the solar cell panel is improved, and service life of the storage battery is prolonged.

(1) The buoy observation system works in deep sea for a long time without mains supply, so that the design of the power supply subsystem is very important and is a key link for guaranteeing the buoy work. The common power supply mode of the offshore buoy adopts a combination mode of a solar cell panel, a charge-discharge controller and a maintenance-free storage battery, and single direct current power supply is adopted.

(2) Considering that the buoy demonstrates the tropical zone of the sea area, the sunshine is sufficient throughout the year. And selecting a scheme of converting the solar panel to a lead storage battery for storage and supply to each device after generating power. Between solar panel and battery, select for use the solar control ware that has the PWM function of charging to charge, can reduce the damage of charging process to the battery, improve battery life.

(3) According to the laser wind finding radar with high power carried by the buoy, the situation that the laser radar buoy does not work from foreign countries to offshore of China frequently occurs, so that a power supply system cannot be designed completely according to the standard of a conventional small buoy, the balance of charge and discharge needs to be fully considered, the total power consumption is calculated in detail, and the situation that the system stops working due to insufficient power is avoided.

The safety subsystem 8 consists of a radar reflector, a Beidou antenna and a lightning rod. The safety subsystem 8: the buoy is hidden in the buoy body, the position information is sent to the shore base station at regular time, and the functions of early warning and positioning can be performed after the buoy leaves the distribution sea area, so that the buoy is favorably searched. The shore-based data receiving station has the main functions of receiving buoy data returned by the buoy through the satellite communication subsystem, analyzing and storing the data, displaying the working state data of the buoy and alarming and displaying a buoy assembly or a sensor with working errors.

The satellite communication module in the satellite communication subsystem 3 has the function of converting data to be transmitted into electromagnetic wave signals and transmitting the electromagnetic wave signals to a shore-based data receiving station; the satellite communication software is a function that encodes data to be transmitted according to a satellite communication protocol.

The data acquisition subsystem 5 controls the management center to mainly control the working state of the buoy electronic equipment, acquire sensor data, process and store the sensor data, and the inductive coupling transmission module is used for transmitting the data of the underwater hydrological sensor to the buoy data acquisition unit.

The connection sequence of the mooring subsystem 6 from bottom to top is as follows: anchor block, rope and buoyancy unit, wherein every two adjacent parts are linked through the link part, and finally the whole mooring subsystem is connected to the bottom of the buoy.

The solar controller is installed in the equipment cabin of the buoy, the control software runs on the solar controller, the solar panel is installed on the buoy tower frame, the storage battery is installed in the equipment cabin of the buoy, and all the solar panel and the storage battery are connected to the array junction box and then are connected into the solar controller in a gathering mode.

The radar reflector, the Beidou antenna and the lightning rod are respectively arranged on the upper part of the buoy tower frame.

The buoy tower is arranged on the upper part of the buoy body through screws, and the lower frame is fixed on the lower part of the buoy body through screws.

The solar panel is divided into two groups, one group is arranged on the buoy upper frame, and the other group is arranged on the buoy body.

As shown in fig. 13 and 20, an observation control device for an ocean anchorage buoy according to an embodiment of the present invention includes: the system comprises a Beidou communication terminal, ultrasonic wind measuring, air temperature, air pressure, humidity and irradiance sensors, a wind profiler, inertial navigation, an inductive coupling transmission system consisting of CTD-6 and a current meter multiplied by 3, a Pc104 data acquisition unit, a solar battery pack, a solar charging controller and an 800AH lead storage battery pack.

The Pc104 data collector also comprises a digital quantity port and an analog quantity port; the bin water inlet alarm and the bin cover opening alarm are sent to the Pc104 data collector through the analog quantity port, and other data are sent to the Pc104 data collector through the digital quantity port by means of Rs 485.

The Beidou communication system is connected with an RS232 serial port 1 of the data acquisition unit through an RS232 serial port; the ultrasonic wind measuring sensor is connected with an RS485 serial port 2 of the data collector through an RS485 serial port; the air temperature sensor is connected with an RS485 serial port 3 of the data acquisition unit through an RS485 serial port; the air pressure sensor is connected with an RS485 serial port 4 of the data acquisition unit through an RS485 serial port; the humidity sensor is connected with an RS485 serial port 5 of the data acquisition unit through an RS485 serial port; the irradiance sensor is connected with an RS485 serial port 6 of the data acquisition unit through an RS485 serial port; the wind profiler is connected with an RS485 serial port 7 of the data acquisition unit through an RS485 serial port; the inertial navigation system is connected with an RS422 serial port 8 of the data acquisition unit through the RS422 serial port; the inductive coupling transmission system is connected with an RS232 serial port 9 of the data collector through an RS232 serial port. The data acquisition unit is connected with the solar controller through a power supply interface, and all the solar panels and the storage battery are connected to the array junction box and then are gathered and connected into the solar controller. The cabin water inlet alarm and the cabin cover opening alarm are connected with the GPIO port of the data acquisition unit through the analog quantity interface.

The technical solution of the present invention is further described with reference to the following examples.

Example 1: small-size laser radar buoy that high stability is good to wave resistance

1. Overview of the System

The ocean anchorage buoy platform provided by the invention is an installation carrier of an ocean monitoring instrument, is a comprehensive observation system for acquiring ocean atmosphere observation data, and can provide meteorological hydrological data such as conventional wind speed, profile wind speed and wind direction, air temperature, relative humidity, air pressure, seawater temperature, seawater salinity, seawater flow velocity, seawater flow direction and the like at regular time.

The buoy is a 3-meter ocean anchorage buoy observation control system, and the system comprises a sensor unit, a buoy body, a mooring system, a data acquisition system, a power supply system, a control system, a safety system, a shore-based data receiving station and the like. The buoy observation system is shown in figure 2.

The buoy is changed by environmental conditions such as sea current, depth and terrain in a laying sea area, performance and parameters of measuring instruments, observation purposes and different laying and recovery methods, measurement factors measuring indexes, electrical characteristics, system indexes and demonstration sea area working conditions of a sensor need to be analyzed and carried before the overall structure design of the buoy is carried out, and then the buoy is designed to be used as an effective load to be carried on a buoy body and each system on mooring. The system of the buoy offshore monitoring station is shown in figure 3.

2. Main subsystem

2.1 buoy body

The buoy body provides buoyancy support for the buoy, is also used as an instrument carrying platform, adopts a disc type structure, and consists of a tower frame, a buoy body and a lower frame. The structural design of the buoy body is shown in figure 4.

2.2 sensor subsystem

According to the requirements of the assessment indexes of the monitor project guide: deep sea measurement, wherein the depth measurement range is 0-1000 m, the precision is less than or equal to +/-2% FS, the conductivity measurement range is 0.2-65 mS/cm, and the precision is less than or equal to +/-0.05 mS/cm; the water temperature measurement precision is less than or equal to +/-0.05 ℃, and the flow velocity resolution is less than or equal to 1.5 cm/s; the method comprises the following steps of climate monitoring, wherein the air pressure measurement error is less than or equal to +/-0.2% FS, the humidity measurement range is 0-100% RH, the precision is less than or equal to +/-2%, the wind speed measurement range is 0-70 m/s, the precision is less than or equal to 0.5m/s, the wind direction measurement range is 0-360 degrees, the precision is less than or equal to +/-3 degrees, the rainfall measurement range is 0-15 mm/min, the precision is less than or equal to 0.5mm/min, the solar radiation measurement range is 0-2500W/m 2, the precision is less than or equal to 1.5% FS, and the air temperature measurement precision is less than or equal to 0.1 ℃. The measurement indexes of the ocean sensor are shown in a table 1, and the measurement indexes of the meteorological sensor are shown in a table 2.

The ocean and meteorological sensors mounted on the floating body are shown in fig. 5.

TABLE 1 ocean sensor metrics

Measuring element	Measuring range	Measurement accuracy	Depth of operation	Design unit
					CTD- -conductivity	0.2～65mS/cm	≤±0.005mS/cm	>1000m	International shallow sea
CTD- -temperature	-2～35℃	≤±0.005℃	>1000m	International shallow sea
					CTD- -depth	0～1000m	≤±0.1％F.S.	>1000m	International shallow sea
Single point flow velocity	0～300cm/s	≤0.5cm/s	>1000m	International shallow sea

TABLE 2 Meteorological sensor measurement index

2.3 mooring subsystem

The buoy anchoring system is a mooring system which is used for providing a mooring force for a buoy body so that the buoy body can be reliably moored and positioned in a severe marine environment. The buoy anchor system can select a single-point mooring full chain type or single-point mooring chain cable mixed anchor system according to the buoy type and the laying station. Wherein, the full chain type anchor system is generally composed of an anchor chain, a connecting accessory, an anchor and the like; the chain-cable hybrid anchoring system is generally composed of an anchor chain, a cable, a connecting accessory, a pressure-resistant floating ball, an anchor and the like.

The subject is to select a chain cable hybrid mooring scheme based on the demonstrated sea depth requirements. The system comprises a buoyancy unit, ropes (steel cables and nylon ropes), a linking component and an anchor block.

(1) Inductively coupled steel cable: the steel cable in the inductive coupling system provided by project topic 3 shallow sea international limited is used. The schematic diagram of the induction transmission steel cable structure is shown in fig. 6, and the information of the plastic coated steel cable is shown in table 3.

TABLE 3 Plastic-coated steel cable information

Note: the diameter of the steel wire rope is 13mm, and the diameter of the steel wire rope after plastic coating is 18 mm.

2.4 Power supply subsystem

The solar power supply system is characterized in that electric energy generated by a solar cell is stored in a storage battery through a solar controller, and reliable electric energy is provided for a load through the controller and an inverter at night. This system adopts the pollution-free solar energy power supply system of environmental protection, and solar cell panel is reliable product, system configuration: photovoltaic module, array junction box, controller, inverter, battery, system status monitoring interface. The technical indexes are as follows: the whole photovoltaic system is fully automatically controlled, and manual operation is not needed. The system has multiple protection functions of preventing overcharge, overdischarge, limiting current and the like. A schematic diagram of the power supply system is shown in fig. 7.

3. Checking and calculating buoy

The ability of the float to tilt away from equilibrium under the action of an external force and to return to its initial equilibrium state by itself when the external force is removed is referred to as the stability of the float. Including initial stability and large roll stability: the initial stability generally refers to the stability of the inclination angle of less than 10-15 degrees or before the edge of the deck enters water; the large inclination angle stability refers to the stability of the inclination angle of more than 10-15 degrees or the stability of the edge of the deck after the deck begins to enter water.

3.1 center of gravity and center of buoyancy estimation

3.2 calculation of initial stability

The initial stability of the buoy is schematically shown in fig. 8. In FIG. 8, the buoy is at a heel

After an angle, the floating center moves from the original position B to B along a curve₁At which time the line of buoyancy action is perpendicular to the new inclined waterline

And intersects the line of buoyancy action (centerline) when the buoy is floating at point M. When in use

At a small inclination angle, curve

Can be regarded as a segment of a circular arc, and the point M is a curve

The center of the circle of the magnetic head,

is a curve

Of (c) is used. In the process of tilting the buoy at a small inclination angle, assuming that the buoyancy action lines before and after tilting pass through M points, the M points are called as the initial stable center of the buoy,

referred to as the initial centromeric radius. The radius r of the stable center refers to the vertical distance between the stable center and the floating center, and under the condition of slight inclination, the calculation formula is as shown in formula (3-1):

in the above formula, I_XThe area moment of inertia of the cross section area of the floating body at the waterline to the centroid X axis of the floating body; v is the displacement volume of the float. I is_XThe formula (3) is shown as the following formula (2):

in the above formula, D₁Is the diameter of the buoy at the waterline.

The buoy needs to have a stable balance state, the stability is higher than the gravity center, and the reasonable stability height is also needed, the initial stability height is an important index for measuring the initial stability of the buoy in the initial stability calculation, and the calculation formula is as follows (3-3):

H_S＝Z_S-Z_g＝Z_b+r-Z_g， (3-3)

in the above formula, H_SRepresenting the initial heart fixation height; z_SRepresents a stable center vertical coordinate; z_bRepresenting the vertical coordinate of the floating center; r represents the radius of the metacentric; z_gRepresenting the vertical coordinates of the center of gravity. Z_bAnd Z_gThe initial steady center height of the buoy can be obtained through buoy design chart statistics, the buoy parameters in the text are substituted into the formula (3-1), (3-2) and (3-3), and the steady center radius of the buoy is calculated to be 1.033 m, and then the initial steady center height is 1.056 m. The requirement of initial stability of ocean floating structure in the national examination technical rules of sailing seagoing vessels is not less than 0.15 m, and the initial stability of the buoy designed in the text is far greater than the standard requirement value, which indicates that the buoy is designed to meet the requirement of the initial stability.

The initial steady height of the buoy also determines the motion characteristics of the buoy when the buoy freely swings at a small inclination angle. The inherent period of the buoy rolling is in direct relation with the initial steady heart height, the inherent period of the buoy rolling is reduced along with the increase of the initial steady heart height, if the initial steady heart height is too large, the period of the buoy rolling is too short, and the buoy can generate sharp swing when encountering stormy waves in the ocean, so that the safety of the buoy is reduced, and the accuracy of data acquisition is improved. Therefore, the reasonability of the initial stability and heart height design of the buoy needs to be judged by calculating the roll inherent period of the buoy, and the calculation formula of the roll inherent period of the buoy is as shown in the formula (3-4):

in the above formula, the first and second carbon atoms are,

the inherent movement period of the buoy; j is the moment of inertia of the buoy relative to the X axis; the delta J is the moment of inertia of the float body attached water mass relative to the X axis, and is generally considered to be approximately equal to 0.2J; ρ is the density of seawater.

Through the inherent movement period of the buoy, the maximum roll angle of the buoy under the condition that the roll angle and the wave slope are small can be obtained according to the formula (3-5):

in the formula (3-5), H represents the maximum wave height of the wave in the sea area where the buoy is located, L represents the wavelength of the wave in the sea area where the buoy is located, and T represents the wave period of the wave in the sea area where the buoy is located. As can be seen from the formula (3-5), when the natural period of the buoy approaches the wave period of the sea area, resonance occurs, the maximum roll angle of the buoy is greatly increased, and the safety of the buoy is reduced, so that the natural period of the buoy should avoid the wave period of the sea area when the buoy is designed.

The inherent period of the buoy rolling is 5.2s and the maximum free rolling angle in the waves is 15.3 degrees by substituting the buoy parameters and the simulated sea area parameters designed in the text into equations (3-4) and (3-5). The inherent period of the buoy has enough difference with the wave period, so that resonance can not occur during working, and the buoy has enough safety.

3.3 calculation of stability of Large Dip

The large inclination angle stability refers to the fact that the buoy is subjected to external force and transverse rocking angle under the extreme sea conditions of strong wind and big waves

The stability of the buoy after exceeding 10-15 degrees to an excessive extent relates to how much wave the buoy can resist in a sea area, or to what extent the buoy transversely inclines to lose stability and overturn. The stability of the large inclination angle is mainly used for calculating the stationarity of the buoy under the static force action and the dynamic stability under the dynamic force action, and the stationarity arm of the buoy is used for reflecting the stability of the buoy. Therefore, the buoy is required to have large inclination angle stability, and the stationarity moment arm curve and the dynamic stability moment arm curve of the buoy are required.

3.3.1 curves of stationarity

The method adopts a variable displacement calculation method to calculate the static force arm of the buoy to obtain a curve of the static force arm of the buoy changing along with the inclination angle, and then integrates the curve of the static force arm to obtain a curve of the dynamic force arm of the buoy. In the calculation process, as the shape of the upper buoy frame is irregular and the water inlet volume is far smaller than that of the lower buoy body, in order to improve the calculation efficiency, the water outlet volume and the water inlet volume of the upper buoy frame are neglected, and only the water outlet volume and the water inlet volume of the lower buoy body and the lower buoy frame are considered.

The buoy has stationarity as shown in FIG. 9, and in equilibrium, the buoy is floating on the waterline W₀L₀When the buoy is transversely inclined

The inclined waterline at an angle is

And balanced with the waterline W₀L₀Intersect at point O. NN' is a reference axis for calculating the tilt static moment through the O point.

Inclined waterline

The following calculation formula of the water discharge volume is as follows (3-6):

in the above formula, the first and second carbon atoms are,

represents the volume of buoy displacement under the inclined waterline; delta₀Representing the displacement volume of the buoy in the balanced state; v₁Representing the wedge-shaped volume of the buoy entering water during transverse inclination; v₂Representing the wedge volume of the float water out at heel.

According to the resultant moment principle, as can be seen from figure 9,

volume static moment for NN' is as in equation (3-7):

in the above formula, /)₁Wedge V for buoy water inlet₁Buoyancy action line and inclined waterline

The distance from the intersection point A to the rotation point O; l₂For buoy water outlet wedge V₂Gravity action line and inclined waterline

The distance from the intersection point B to the rotation point O; l₀Volume of water displaced delta for a balanced float state₀Buoyancy acting line and inclined waterline

The distance of the intersection point F to the rotation point O.

The buoy floats on the inclined water line, which can be obtained by the formulas (3-6) and (3-7)

The distance from the buoyancy action line to the axis NN' is:

wherein l₀The formula (3) is as follows:

due to the irregular wedge shape of water inlet and outlet when the buoy inclines, V with different inclination angles₁、l₁、V₂And l₂The statistics result is obtained through three-dimensional drawing software. In the formula (3-9), d₀Refers to the draft of the buoy in a balanced state; KB₀Refers to the floating center B of the buoy in the balanced state₀Distance to center K of the cross section bottom of the buoy; KG is the distance from the center of gravity G to the center K of the bottom of the cross section of the buoy when the buoy is in a balanced state; c is the deviation value, which refers to the distance of the rotation point of the buoy after the buoy is inclined from the center of the waterline in the balanced state. The rotation point is taken at the water inlet side, the deviation value c is determined according to the distance from the waterline of the buoy to the upper edge of the floating body and the draft ratio, the smaller the ratio is, the larger the deviation is, so that the sizes of the water inlet wedge and the water outlet wedge under the waterline with a large inclination angle are approximately the same, and the c value is taken as 0.1m according to the draft, the form width and other parameters of the designed buoy and the working experience of other people.

In general, the maximum value of the transverse inclination angle in the calculation of the large inclination angle stability of the ocean floating body structure is 70-80 degrees, the transverse inclination angle of the buoy in the calculation in the text ranges from 10 degrees to 90 degrees, and the interval of the values is 5 degrees. The stationarity moment arm curve is calculated through the calculation process, and the stationarity moment arm curve is integrated to obtain the dynamic stability moment arm curve as shown in fig. 10.

In fig. 10, the curve in the graph is the stationarity curve of the buoy, the straight line is the slope of the reinitiation point, which is equal to the initial stationarity height, and the combination of the curve and the straight line can judge the accuracy of plotting the stationarity curve. The ordinate value of the highest point B of the stationarity curve is the maximum restoring force arm of the buoy in the process of transverse inclinationThe maximum static moment of heeling that the buoy can bear can be obtained. If the external constant list force arm exceeds the maximum static list force moment that the buoy can bear, the buoy will overturn. Therefore, the longitudinal coordinate value of the highest point B is the maximum restoring force arm, and the corresponding transverse inclination angle is the ultimate static inclination angle

Before reaching the limit static inclination angle, the buoy is in a stable equilibrium state, and after exceeding the limit static inclination angle, the buoy is in an unstable equilibrium state. And when the restoring moment arm of the descending section of the stationarity curve is equal to 0, the corresponding transverse inclination angle is called a stationarity vanishing angle. It can be seen from the figure that the float has an extreme static inclination of about 41 deg., a maximum restoring moment arm of about 0.58 m, and a stability vanishing angle of over 90 deg.. The requirements for the large dip angle stability of the marine floating body structure in the national sailing sea ship legal inspection technical rules include: the restoring force arm at the transverse inclination angle of 30 degrees is not less than 0.2 m; the transverse inclination angle corresponding to the maximum restoring force arm is not less than 25 degrees; the vanishing angle of stationarity should not be less than 55 deg.. From the above analysis, the buoy designed in the text completely meets the requirements of technical rules and has sufficient stationarity.

3.3.2 Curve of dynamic stability

The stationarity curve is calculated by assuming that the external moment is slowly applied to the buoy so that the angular velocity of the buoy is small during the heeling process and is generally considered to be equal to zero. However, when the buoy runs in the sea, the buoy is often subjected to the sudden action of external moment, such as the sudden blowing of gust, the violent impact of sea waves and the like, the buoy is rapidly inclined under the sudden action of the external moment, and has certain angular velocity in the inclination process, and the situation belongs to dynamic stability calculation.

During the movement, when the restoring moment is equal to the external moment, the external moment can not enable the buoy to continuously tilt, but the buoy can continuously tilt under the action of inertia due to a certain angular velocity. Only when the work of the restoring moment counteracts the work of the external moment, the angular velocity of the buoy becomes zero and the tilting stops. The dynamic stability of the buoy is therefore expressed in terms of the work done by the restoring moment. When the buoy is horizontalIs poured into

Time, restoring moment M_RThe work is shown in formula (3-11), and the change rule of the restoring moment is represented by a stationarity curve.

In the above formula, T_RWork done to restore the arm of force; l_dIs a dynamic stability force arm; delta is the displacement; m_RIs a restoring arm; l_sIs a static force arm. The calculation formula of the moment arm of the dynamic stability obtained from the formula (3-11) is

Therefore, the stationarity curve is an integral curve of the stationarity curve. The important application of the dynamic stability curve is to calculate the stability calibration number of the buoy, and the calculation formula of the stability calibration number is as follows:

in the formula (3-12), K is a stability criterion number; l_qIs the minimum overturning moment arm; l_fIs an inclined moment arm of wind pressure. The minimum overturning moment arm is obtained through a maximum dynamic stability roll angle and a dynamic stability curve, and the maximum dynamic stability roll angle calculation formula is as follows:

in the formula (3-13), C₁、C₂、C₃、C₄The coefficient is obtained by looking up a table according to volume and mass parameters of the buoy: c₁＝1.21、C₂＝0.68、 C₃＝0.02、C₄The maximum roll angle of dynamic stability can be obtained at 0.885

The method for obtaining the minimum overturning moment arm by combining the dynamic stability curve is as follows.

The curve of the float dynamic stability is shown in FIG. 11, in which the curve of the positive half axis of the x axis is the curve of the float dynamic stability, the curve of the dynamic stability extends along the negative direction of the axis of the abscissa as shown by the blue line, and the value from the origin to the negative direction on the horizontal axis is equal to the maximum dynamic stability roll angle

And (3) making a vertical line along the direction of the ordinate axis by the point A, intersecting the extension line of the dynamic stability curve at the point A, and making a tangent line of the dynamic stability curve by the point A. Then, a straight line is made to pass through the point A and is parallel to the horizontal axis, a line segment with the length equal to 1rad (57.3 degrees) is measured on the straight line from the point A, and the end point of the line segment is the point B. Making a vertical line from the point B along the direction of the longitudinal axis and intersecting the tangent line at the point C, wherein the length of the line segment BC is the minimum overturning force arm l_q. The minimum overturning moment arm of the buoy in the method is 0.2776 m.

The calculation formula of the wind pressure inclined force arm is as follows:

in the formula, A_fThe wind area of the buoy is the side projection area of the part above the waterline of the buoy; z is the distance from west to the waterline in the windy area of the buoy, namely the moment arm of wind action; delta is buoy displacement; the three can be obtained through the statistics of a buoy design diagram. And p is obtained by table look-up according to the sea area where the buoy is arranged and the wind force action arm when wind pressure is calculated. The wind pressure inclination moment arm of the buoy in the text is calculated to be 0.2209 m. Will find out_qAnd l_fThe formula (3-12) is substituted to obtain the stability balance number K of the buoy to be 1.26, the requirement that the stability balance number of the buoy is more than or equal to 1 in the legal inspection rule of ships and offshore facilities is met, and the buoy in the text has enough dynamic stability.

3.4 buoy hydrodynamics simulation test

At present, the common hydrodynamic analysis software comprises AQWA, WAMIT, Hydrostav, MOSES, wavelet and the like, and the comprehensive comparison of the aspects of pretreatment capability, post-treatment capability, hydrodynamic analysis capability, installation analysis capability and the like of the software finds that the AQWA has both strong front-back treatment capability and relatively complete analysis capability, so that the AQWA software is adopted to carry out hydrodynamic analysis on the buoy in the text, and corresponding hydrodynamic results are calculated and output.

3.4.1 principles and methods of calculation

(1) Theory of potential flow

Assuming that the fluid in the flow field where the buoy is located is non-viscous and incompressible fluid, the motion of the flow field is non-rotational, and the free surface wave is a micro-amplitude wave, the motion of the flow field can be described by using a three-dimensional potential flow theory. The boundary of the flow field is composed of an object plane boundary, a fluid free surface, a seabed boundary surface and a cylinder at infinity. The boundary conditions that need to be satisfied are:

laplace equation:

boundary conditions of the sea bottom:

free surface conditions:

immersion object surface conditions:

irradiation conditions were as follows:

the velocity potential of the radiated wave at infinity approaches 0.

(2) Equation of velocity potential

In a flow field described by a three-dimensional potential flow theory, the total velocity potential of the flow field around the buoy is as follows:

in the above formula, the first and second carbon atoms are,

as the total velocity potential, the velocity potential,

is the incident potential of the wave which is not disturbed by the floating body,

is of a radiation type, is generated by the motion of the floating body,

diffraction potential is generated after the waves pass through the floating body. In general, the radiation velocity potential and the diffraction velocity potential are collectively referred to as a scattering velocity potential, that is, a scattering velocity potential

The incident velocity potential is known, and in order to solve the total velocity potential of any point in the fluctuation field, a Green function method is needed to obtain the scattering velocity potential.

The three-dimensional potential flow theory regards all points on the surface of the structure as wave sources, and the source intensity on the surface of the structure

The disturbance potential of any point wave source N to any point P (x, y, z) in the wave field is

Due to the intensity of the source, the component is continuously divided on the surface of the structureOf cloth, hence the scattering potential at any point of the fluctuating field

Comprises the following steps:

in the formula (I), the compound is shown in the specification,

for the green function, under the boundary condition that the three-dimensional potential flow theory is satisfied, the integral form of the green function is as follows:

in the above formula, the first and second carbon atoms are,

in the formula, P₀V₀To take the integrated Cauchy principal value, J₀() Is a zero order first class Bessel function.

When the intensity of the surface source of the structure is solved, the scattering potential calculation formula (7) can be substituted into the free surface boundary condition formula (3) to obtain a basic equation of the intensity distribution function of the surface source, which is also called a second Fredholm integral equation as follows:

obtaining a Green function G under the condition of known incident potential, and obtaining a surface source intensity distribution function according to the formula (9)

Then, the scattering velocity potentials of all points on the surface of the structure can be obtained according to the formula (7). After the scattered wave velocity potential is obtained, the scattered wave velocity potential and the incident wave velocity potential are superposed to obtain the total velocity potential of any point in the wave field.

(3) Wave force

The hydrodynamic pressure of the surface of the structure can be obtained by a linearized Bernoulli equation:

the hydrodynamic pressure is generally divided into three parts, according to the nature: Froude-Kriloff force F caused by incident potential_fkRadiation force F caused by radiation potential₂And diffraction force F due to diffraction potential₁. The Froude-Kriloff force and the wave diffraction force are commonly referred to as the first-order wave force F₁The calculation formula is as follows:

in the above formula, i ═ 1, 2, 3 …, 6 indicate the corresponding motion mode, and n represents_iThe components of the generalized unit normal vector, and ω is the circular frequency of the buoy oscillation.

The radiation force caused by the radiation potential is usually expressed in the form of additional mass force and damping force. The buoy produces forced simple harmonic motion under the action of wave force, and the motion can produce outwards expanded waves, bring certain speed and acceleration to the fluid around the floating body of the buoy, and produce oscillating fluid pressure on the surface of the floating body. The formula for calculating the wave radiation force is as follows:

in the above formula, i, j is 1, 2, 3 …, 6,

the formula of the wave radiation force can be seen, and the wave radiation force is divided into two parts: coefficient of proportionality u_iThe additional mass term is proportional to the oscillation acceleration; coefficient of proportionality λ_ijIs proportional to the rocking acceleration.

The buoy is acted by first-order wave force and high-order wave force, the high-order wave is caused by a series of irregular wave long-period drift motion, and the motion equilibrium position of the buoy is changed relative to the original equilibrium position. In practice, only second order wave forces are generally considered, because the wave forces on the second order are small in magnitude and have substantially negligible effect on the movement of the structure. The second-order wave force is mainly divided into a second-order average wave drifting force, a second-order low-frequency wave drifting force and a second-order off-frequency wave drifting force, although the numerical value of the second-order wave force is small compared with that of the first-order wave force, the second-order wave force can generate a large additional force under the condition of resonance, and the structure can generate large-amplitude drifting motion. Therefore, when the buoy and the waves vibrate together, the influence of the second-order wave force on the hydrodynamic performance of the floating body must be calculated.

(4)RAO

The float motion Amplitude Response operator (RAO) is a transfer function from wave excitation to hull motion, and refers to the ratio of the float motion Amplitude of corresponding freedom degree to the wave Amplitude, which indicates the motion Response characteristic of the float under the action of linear waves. Taking the rolling motion of the buoy as an example, the rolling RAO is a rolling motion amplitude function of the floating body about the wave frequency under the action of regular waves of unit amplitude, and the calculation formula is as follows:

in the above formula, θ_XThe amplitude of the rolling motion of the floating body; xi₀The wave amplitude of incident wave is the unit wave amplitude of regular wave; DAF_rolThe power amplification coefficient obtained for the rolling motion equation; omega is the incident wave circle frequency; beta is incident waveAnd (4) an angle. When the first derivative and the second derivative of the motion response are obtained, the corresponding motion RAO is changed into a motion velocity response RAO and an acceleration response RAO.

3.4.2 buoy parameters and modeling

A small ocean data buoy with the diameter of 3 meters is used as a domestic sensor deep open sea test platform, and the buoy with the model has the advantages of low manufacturing cost, strong bearing capacity, easiness in transportation and arrangement and the like. The upper frame, the floating body and the lower frame of the buoy are designed by using three-dimensional mapping software SolidWorks and are assembled, and the design parameters of the buoy are counted by using software as shown in a table 4. The AQWA software ignores the structural appearance of the buoy when carrying out hydrodynamic analysis on the buoy, so that the factors such as the appearance size, the stress projection area, the stress action point and the like of the upper frame and the lower frame of the buoy are comprehensively considered when carrying out buoy modeling in the software, and the upper frame and the lower frame of the buoy are simplified. After a three-dimensional graph after buoy simplification is led into the AQWA, firstly, waterline cutting is carried out, then, global variables and quality information of the floating body are set according to buoy design parameters, and finally, the floating body is subjected to grid division according to the grid size of 0.3m so as to complete buoy modeling. The result of the floating grid division is shown in fig. 12. The translation of the buoy in the sea along three coordinates and the rotation of the buoy around three coordinate axes have six degrees of freedom of movement, namely, the motions of swaying, surging, heaving, rolling, pitching and yawing respectively, and the origin of the coordinates is the gravity center of the buoy. Because the buoy is almost bilaterally symmetrical, only the motion characteristics of four degrees of freedom of buoy swaying, rolling, heaving and yawing are researched.

TABLE 4 buoy parameters

Example 2: platform management system based on high-power-consumption equipment

The control system is the "brain" of the entire buoy system. Its main functions include: sensor on-off control, data transmission control, data processing and the like.

The controller has higher requirements on digital sampling, system control, data acquisition, storage and processing functions. Meanwhile, the controller needs to have good stability so as to meet the requirements of marine working environment. Table 5 shows the advantages and disadvantages of the conventional control and data acquisition and processing system scheme used in marine facilities. It can be seen from the table that the solutions all have disadvantages, and the data collector with the PC104 as the core has high integration level, good mechanical performance, and high sampling precision, and has the advantages shown in table 6, so that the solution is selected as basic hardware to develop the whole buoy control system.

TABLE 5 common control System scenarios

Classification	Advantages of the invention	Deficiency of
			MSC51	The experiment test is complete; operation is stable	Too few sensors; low sampling precision
AVR	The communication efficiency is high; the system has strong reliability	Lack of experiments; low sampling precision
			ARM Linux	A plurality of expansion ports are provided; high sampling precision	Complicated system and program design and long research and development period

TABLE 6 PC104 Main technical index and application advantages

Based on the above system solutions and the hardware features of the PC104, a hardware solution for the buoy system is developed as shown in fig. 13.

After the system hardware design is completed, the following functions are realized by writing a program:

(1) controlling the sampling frequency of each meteorological sensor, and acquiring the data of the original voltage and the resistance value of the analog quantity;

(2) controlling an inductive coupling communication system to acquire digital quantity data of the underwater sensor;

(3) processing the original data of each sensor, and removing invalid data;

(4) and the communication time of the communication module is controlled, and the error rate is controlled. Encrypting important data of received data under certain special weather and sea condition conditions;

(5) and standard external voltage is provided for each sensor, the working condition of the battery pack is monitored, and the normal work of the system is guaranteed.

Example 3: power supply system of high-power buoy platform

The power supply refinement scheme of the buoy body is as follows:

since this subject is equipped with a laser wind-measuring radar and a laser hygrometer, which consume a large amount of power, the power supply system cannot be implemented according to the conventional buoy. The refinement scheme needs to recalculate several steps of the total power consumption of the system, the model selection of the storage battery and the model selection of the battery panel.

1. Total power consumption calculation of system

According to the actual working requirement of the buoy and the energy consumption requirement of the buoy in the project task book, the following energy consumption assumptions are made for the buoy system:

(1) the continuous working time in the normal working mode is not less than 1 year.

(2) The exemplary sea area in the north of the south sea, typhoon weather, continuous precipitation weather. The requirement of providing normal working electric energy for the equipment under the condition of no charging for 15 continuous days must be met;

(3) each sensor (except the anemometer sensor) collects data every 15 minutes. Sampling was continued for 1 minute after power-on.

(4) The laser wind measuring radar collects data every 30 minutes, and continuously samples for 6 minutes after starting.

(5) The ultrasonic wind measuring sensor collects data every 15 minutes, and continuously samples for 10 minutes after the wind measuring sensor is started.

(6) And all sensors perform data encryption acquisition processing when the wind speed is more than 20m/s, and continuously sample for half an hour.

(7) The satellite communication module is started once every hour and continuously transmits data for 15 minutes. According to the assumption of energy consumption, the power consumption situation of each electronic device is counted, and the result is as follows:

TABLE 7 Instrument Power and Power consumption

2. Accumulator type

According to the technical requirements of the storage battery for the buoy:

(1) the device can accept large-angle shaking and impact in the marine working environment;

(2) the device is suitable for humid environments such as seawater, salt fog and the like, and is not easy to mildew and leak electricity;

(3) the self heating value is small, and the device can work in the tropical environment of more than 30 ℃ all the year round.

Currently, the common storage batteries on the market mainly include lithium batteries, nickel-metal hydride batteries, nickel-cadmium batteries, lead-acid batteries, and the like, and the respective performance characteristics are shown in table 8.

TABLE 8 characteristics of various secondary batteries

It is contemplated that the float is not particularly critical to battery life requirements. The price difference of various batteries is large, wherein the price of the high-quality lead storage battery is the lowest, the technology is mature and the reliability requirement is met. Meanwhile, the lead-acid battery has low specific energy and can partially replace a lead block to achieve the counterweight effect. Therefore, the present subject matter selects a lead acid storage battery of high quality as an energy storage member, and designs a battery assembly scheme as shown in table 9.

TABLE 9 Battery pack scheme

Nominal capacity	Rated voltage	Weight (D)	Size of	Number of	Connection mode
						200Ah
	12V	62kg	549·125·330	10	In parallel

The two schemes both meet the 15-day limit power consumption requirement of the electronic part of the buoy, and the scheme has strong feasibility and lower cost.

3. Solar cell panel type selection

Table 10 shows the performance and cost of various solar panels. Common silicon solar panels mainly include single crystal silicon panels, polycrystalline silicon panels and amorphous silicon panels.

TABLE 10 Performance and price of various solar cell panels

In consideration of the maintenance difficulty of the buoy, the solar panel has higher photoelectric conversion rate and also needs better mechanical property. The high-quality monocrystalline silicon plate has moderate price, excellent performance and longer service life, so the monocrystalline silicon plate is selected.

The total power of each power consumption module of the buoy is 94.8W by calculating the power of each system, the actual total working time of each system per day is about 2 hours, and the average power of the system is about 55W. Considering the charging efficiency and the loss during charging (calculated as 70% of the actual power used), the solar panel needs to output about 80W. According to the climate analysis of an exemplary sea area, the effective sunshine time at sea can reach 8 hours, the average irradiance is about 300W/m2, the arrangement angle of the solar panel on the buoy is considered, and four 12V and 100W monocrystalline silicon solar panels are selected and used in parallel, wherein the four 12V and 150W monocrystalline silicon solar panels are selected.

TABLE 11 solar Panel Performance index

Example 4: high-stability improved buoy with lower frame structure

1. Floating body design

The deep sea buoys currently used in various countries can be generally divided into two categories, namely, ship-shaped buoys and circular buoys, in terms of the appearance of the buoy body. The ship-shaped buoy body has small resistance in water flow due to the conformity with the fluid dynamics principle, light weight, wind wave resistance and difficult overturn, and is suitable for sea areas which are often in severe sea conditions such as strong wind waves and strong ocean currents. But the manufacturing cost is high, and the transportation and the laying operation are complex; the circular buoy has simple structure and shape, good wave following property and stability, convenient transportation and arrangement and good environmental interference resistance.

Considering that the target sea area for arranging the buoy is not in an extreme sea state for a long time and the requirement of the mounted sensor on the stability of the buoy, the overall structure of the buoy is determined to be designed to be circular.

If the displacement is the same, the wave resistance of the float can be improved by increasing the diameter of the float to a suitable extent, but the initial stability of the float is also increased, which is disadvantageous in terms of float stability. Because the sensor carried by the buoy has higher power consumption, in order to ensure that the buoy has sufficient cruising ability, a solar cell panel with sufficient power is carried, and a nearly disc-shaped floating body with the diameter of 3 meters is selected after comprehensive consideration. The main floating body is designed in two dimensions as shown in figure 14.

The floating body is made of mixed foaming materials, EVA, PE and other materials are mixed and foamed according to a certain proportion to form the floating body with the density of 100 kg/m³Cutting and molding the blank. The outer surface of the floating body needs to be coated with a 5mm polyurea coating so as to be completely waterproof and enhance the hardness and the corrosion resistance.

2. Cabin design

The buoy has five chambers, namely a control chamber and four battery chambers. In order to ensure the long-term safe and stable operation of the equipment, the buoy battery compartment and the control compartment cover are formed by welding 316 stainless steel materials with excellent corrosion resistance in a sealing way, and waterproof sealing measures such as sealing strips and the like are adopted on the sealing flanges.

The control cabin is positioned on the central axis of the buoy and is connected with the support structure of the upper disc of the buoy into a whole, and a data collector, an accelerometer and other equipment are placed in the control cabin and are used as a central control system of the whole buoy.

The battery cabin body is also cylindrical and surrounds the control cabin. The flange part is approximately triangular, and is fixed through three fixed columns penetrating through the floating body, so that the buoy is not only stable, but also can be used as a supporting framework of the whole buoy. The control bay is shown in fig. 15 and the battery bay is shown in fig. 16.

3. Overall structure design of intermediate floating body part

The five cabins are wrapped in the floating body and jointly form the main body part of the buoy. In order to fully utilize the space, four 100W solar panels are also arranged on the top of the floating body so as to ensure the power supply. In addition, four groups of steel columns with the diameter of 20mm are additionally arranged around the buoy to be convenient for arranging the buoy as lifting points. The general structure of the main body portion of the float is shown in fig. 17.

4. Base and counterweight design

A support base is required for proper placement of the buoy when on land for installation and testing. The base is also made of 316 stainless steel materials for firmness, stability and corrosion resistance. Meanwhile, the base can also be used as a carrier of the counterweight.

In order to lower the center of gravity of the buoy and make the posture of the buoy in water more stable, the counterweight is necessary. The lead block with large specific gravity is used as a balance weight and fixed on the base through the bolt, so that the stability of the buoy can be effectively improved. The lower shelf plan is shown in fig. 18.

In order to reduce the weight of the single balance weight for convenient installation, 12 balance weight lead blocks are selected, and each block weighs 31kg and total weight 372 kg.

The method is the overall structural design of the buoy, and all parts are assembled and simulated by SolidWorks software and are checked to ensure the installation feasibility. Fig. 19 is an overall effect diagram of the float. The float mass attribute statistics are shown in table 12.

Table 12 statistical table of floating body mass attributes

The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.

Claims

1. The utility model provides an ocean anchorage buoy observation control system which characterized in that, ocean anchorage buoy observation control system includes:

the buoy body is used for providing buoyancy for the whole buoy and ensuring the buoy to normally work on the sea surface; the buoy instrument cabin is arranged in the buoy body, and the buoy body has a protection effect on buoy data collector equipment;

the satellite communication subsystem adopts a Beidou satellite communication system and is used for transmitting the working state of the buoy, including the buoy position, the power supply system state, the sensor working state and the working state of the buoy data collector;

the mooring subsystem is used for carrying an inductive coupling transmission system and transmitting the data of the underwater sensor to the buoy data acquisition subsystem; anchoring the buoy to prevent the buoy from leaving the deployment sea area;

the energy control subsystem is used for supplying power to the electronic equipment of the whole buoy; in the power supply process, distributed discharge management is carried out on a power supply, so that the energy utilization rate of the buoy is improved; carrying out charging type distributed charging management on the storage battery on the solar panel;

2. The marine anchorage buoy observation control system of claim 1, wherein the sensor subsystem is comprised of a meteorological module and a hydrological module;

3. The marine anchorage buoy observation control system of claim 1, wherein the satellite communication subsystem includes a satellite communication module, a communication software module; the satellite communication module converts data to be transmitted into electromagnetic wave signals and transmits the electromagnetic wave signals to a shore-based data receiving station; the satellite communication software encodes data to be transmitted according to a satellite communication protocol;

4. The marine anchorage buoy observation control system of claim 1, wherein the mooring subsystem selects a single point mooring chain cable hybrid mooring line according to buoy type and deployment station, comprising a buoyancy unit, a rope, a linking member, and an anchor block; wherein every two adjacent parts are linked through a linking part, and finally the whole mooring subsystem is connected to the bottom of the buoy;

the steel cable is an inductive coupling steel cable;

5. The marine anchorage buoy observation control system of claim 1, wherein the energy control subsystem comprises control software, a solar cell controller, a solar panel, a rechargeable battery; the system is provided with a photovoltaic module, an array junction box, a controller, an inverter, a storage battery and a system state monitoring interface;

6. The marine anchorage buoy observation control system of claim 1, wherein the buoy body is of a disc type structure and comprises a tower frame, a buoy body and a lower frame;

7. An ocean anchorage buoy observation control method for operating the ocean anchorage buoy observation control system of any one of claims 1 to 6, characterized in that the ocean anchorage buoy observation control method comprises:

(1) estimating the gravity center and the floating center;

(2) calculating initial stability;

(3) and calculating the stability of the large inclination angle.

8. The marine anchorage buoy observation control method of claim 7, wherein the initial stability calculation method comprises: when the buoy inclines at a small inclination angle, the buoyancy action lines before and after the inclination all pass through the M point, and the M point is called as the initial stable center of the buoy,

in the formula, D₁Is the diameter of the buoy at the waterline;

H_S＝Z_S-Z_g＝Z_b+r-Z_g；

in the formula (I), the compound is shown in the specification,

1) the curve of the stationarity is that,calculating the static force arm of the buoy by adopting a variable displacement calculation method to obtain a curve of the static force arm of the buoy changing along with the inclination angle, and integrating the curve of the static force arm to obtain a curve of the dynamic force arm of the buoy; in equilibrium, the buoy is floating on the waterline W₀L₀When the buoy is transversely inclined

The inclined waterline at an angle is

inclined waterline

The following formula for calculating the volume of water to be drained:

in the formula (I), the compound is shown in the specification,

represents the volume of buoy displacement under the inclined waterline; delta₀Representing the displacement volume of the buoy in the balanced state; v₁Representing the wedge-shaped volume of the buoy entering water during transverse inclination; v₂Representing the wedge-shaped volume of the water outlet of the buoy when the buoy tilts;

according to the principle of resultant moment,

volume static moment for NN':

The distance from the intersection point B to the rotation point O; l₀Volume of water displaced delta for a balanced float state₀Buoyancy action line and inclined waterline

The distance from the intersection point F of (A) to the rotation point O;

the buoy floats on the inclined waterline

The distance from the buoyancy action line to the axis NN' is:

wherein l₀The calculation formula of (2):

d₀refers to the draft of the buoy in a balanced state; KB₀Refers to the floating center B of the buoy in the balanced state₀Distance to center K of the cross section bottom of the buoy; KG refers to a buoyThe distance from the gravity center G to the center K of the bottom of the cross section of the buoy in a balanced state; c is a deviation value which is the distance from the rotation point of the inclined buoy to the center of the waterline in the balanced state; the rotation point is taken at one side of the water inlet, the deviation value c is determined according to the distance from the waterline of the buoy to the upper edge of the floating body and the draft ratio, and the smaller the ratio is, the larger the deviation is; calculating a stationarity moment arm curve through the calculation process, and integrating the stationarity moment arm curve to obtain a dynamic stability moment arm curve;

2) curve of dynamic stability

The stability balance number calculation formula is as follows:

in the formula, C₁、C₂、C₃、C₄The coefficient is obtained by looking up a table according to volume and mass parameters of the buoy: c₁＝1.21、C₂＝0.68、C₃＝0.02、C₄The maximum roll angle of dynamic stability was found to be 0.885

the calculation formula of the wind pressure inclined force arm is as follows:

9. An ocean anchorage buoy observation control device provided with the ocean anchorage buoy observation control system of any one of claims 1 to 6, characterized by comprising: the system comprises a Beidou communication terminal, an ultrasonic wind measuring sensor, an air temperature sensor, an air pressure sensor, a humidity sensor, an irradiance sensor, an air profiler, an inertial navigation system, an inductive coupling transmission system, a data acquisition unit, a solar battery pack, a solar charging controller and a lead storage battery pack;

the data acquisition unit also comprises a digital quantity port and an analog quantity port; the bin water inlet alarm and the bin cover opening alarm are sent to the data acquisition unit through the analog quantity port, and other data are sent to the data acquisition unit through the digital quantity port by using Rs 485;

the Beidou communication system is connected with an RS232 serial port 1 of the data acquisition unit through an RS232 serial port; the ultrasonic wind measuring sensor is connected with an RS485 serial port 2 of the data acquisition unit through an RS485 serial port; the air temperature sensor is connected with an RS485 serial port 3 of the data acquisition unit through an RS485 serial port; the air pressure sensor is connected with an RS485 serial port 4 of the data acquisition unit through an RS485 serial port; the humidity sensor is connected with an RS485 serial port 5 of the data acquisition unit through an RS485 serial port; the irradiance sensor is connected with an RS485 serial port 6 of the data acquisition unit through an RS485 serial port; the wind profiler is connected with an RS485 serial port 7 of the data acquisition unit through an RS485 serial port; the inertial navigation system is connected with an RS422 serial port 8 of the data acquisition unit through the RS422 serial port; the inductive coupling transmission system is connected with an RS232 serial port 9 of the data acquisition unit through an RS232 serial port; the data acquisition unit is connected with the solar controller through a power interface, and all the solar panels and the storage battery are connected to the array junction box and then are gathered and connected into the solar controller; the cabin water inlet alarm and the cabin cover opening alarm are connected with the GPIO port of the data acquisition unit through the analog quantity interface.

10. An ocean observation device provided with the ocean anchorage buoy observation control system of any one of claims 1 to 6.