CN114701602B - Position control method for anchoring buoy monitoring device with winch - Google Patents

Position control method for anchoring buoy monitoring device with winch Download PDF

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Publication number
CN114701602B
CN114701602B CN202210100567.0A CN202210100567A CN114701602B CN 114701602 B CN114701602 B CN 114701602B CN 202210100567 A CN202210100567 A CN 202210100567A CN 114701602 B CN114701602 B CN 114701602B
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cable
buoy
floating body
winch
cabin
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CN202210100567.0A
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CN114701602A (en
Inventor
陈海民
李培正
朱坤
万德松
裘鸿
山秋滨
陈建林
姚克波
杜永利
王逸杰
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China E Tech Ningbo Maritime Electronics Research Institute Co ltd
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China E Tech Ningbo Maritime Electronics Research Institute Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B22/00—Buoys
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B22/00—Buoys
    • B63B22/18—Buoys having means to control attitude or position, e.g. reaction surfaces or tether
    • B63B22/20—Ballast means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/02—Driving gear
    • B66D1/12—Driving gear incorporating electric motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/42—Control devices non-automatic
    • B66D1/46—Control devices non-automatic electric
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/18—Water
    • G01N33/1886—Water using probes, e.g. submersible probes, buoys
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B22/00—Buoys
    • B63B2022/006—Buoys specially adapted for measuring or watch purposes

Abstract

The invention discloses an anchoring buoy monitoring device with a winch, which comprises a floating body cabin, wherein an instrument cabin and a power supply device are arranged on the floating body cabin, the lower part of the floating body cabin is connected with a lower bracket, the middle of the upper part of the floating body cabin is provided with the winch and a driving device, and a cable passes through a cable arranger arranged on the floating body cabin and is placed into a floating adjusting mechanism; floating adjustment mechanism includes that hollow fixed slide and cover establish the sliding sleeve on fixed slide, fixed slide top is fixed with body under-deck wall, sliding sleeve inner wall upper segment circumference equipartition has a plurality of jars that push away, it links firmly with corresponding fixed slide top to push away the jar output, under the telescopic action of pushing away the jar, make sliding sleeve along fixed slide length direction up-and-down motion, the sliding sleeve bottom is equipped with the reel support, reel and motor are equipped with on the reel support, the cable passes fixed slide cavity winding on the reel, the cable is transferred to aquatic and cable bottom connection monitoring devices through the reel. The invention also discloses a control method of the device.

Description

Position control method for anchoring buoy monitoring device with winch
Technical Field
The invention relates to the field of marine environment monitoring, in particular to a position control method of an anchoring buoy monitoring device with a winch.
Background
The ocean observation buoy is an ocean observation station fixed in a specific sea area in an anchoring mode and is used for observing ocean weather and the ocean environment monitoring system on the surface of seawater. The traditional mooring system of the ocean observation buoy is usually single-point, a single-point anchoring system is single-point mooring by a pure anchor chain or a composite single-point mooring of the anchor chain and a mooring rope, is mainly used for observing factors such as ocean surface water temperature, surface salinity and the like, has observation capacity limited to observing surface factors of seawater, and is difficult to observe ocean factors below the ocean surface.
In the patent application, "observation device and observation method for ocean element vertical section based on buoy anchor chain" (CN 201410403661.9), observation of ocean element vertical section can be realized by arranging a plurality of observation units on the buoy anchor chain; in the patent application, the cylindrical wind wave-resistant ocean layered sampling water quality monitoring buoy (CN 201711219671.7) is provided with sampling pipes with different lengths, and simultaneously monitors water quality at different depths; however, the method needs to arrange a plurality of observers, so that the cost is high and the energy consumption is high; the patent 'a small-size marine data buoy observation network based on multi-point anchor system structure' (ZL 202020456976.0) forms array buoy observation area network through central buoy body, a plurality of observation buoys and multi-point anchor system structure, and the method can realize long-term continuous online monitoring of sea surface multi-point, water body and seabed, but the water body profile parameter monitored by the method is fixed depth and can not be automatically adjusted according to monitoring requirements.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the position control method of the anchoring buoy monitoring device capable of monitoring the sea water parameters at different depths is provided.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a position control method of an anchoring buoy monitoring device with a winch comprises a floating body cabin, wherein an instrument cabin and a power supply device are arranged on the floating body cabin, the lower part of the floating body cabin is connected with a lower support, the middle of the upper part of the floating body cabin is provided with the winch and a driving device, the winch is driven by the driving device to rotate and is used for winding and unwinding cables, and the cables penetrate through a cable arranging device arranged on the floating body cabin and are placed into a floating adjusting mechanism arranged at the lower part of the floating body cabin and used for further controlling the winding and unwinding of the cables;
the floating adjusting mechanism comprises a hollow fixed sliding seat and a sliding sleeve sleeved on the fixed sliding seat, the top of the fixed sliding seat is fixed with the inner wall of a floating body cabin, a plurality of push cylinders are uniformly distributed on the upper section of the inner wall of the sliding sleeve in the circumferential direction, the output ends of the push cylinders are fixedly connected with the tops of the corresponding fixed sliding seats, the sliding sleeve is enabled to move up and down along the length direction of the fixed sliding seat under the telescopic action of the push cylinders, a reel bracket is arranged at the bottom of the sliding sleeve, a reel and a motor are arranged on the reel bracket, the reel rotates under the driving of the motor, a cable penetrates through the hollow part of the fixed sliding seat and is wound on the reel, the cable is placed into the water through the reel, and the bottom of the cable is connected with a monitoring device,
the monitoring device is used for monitoring underwater environment parameters and transmitting data to the instrument cabin through a cable; the instrument cabin comprises a marine environment monitoring sensor for acquiring marine surface seawater parameters, a data acquisition processor and an energy storage device, a radio antenna is arranged on the floating body cabin, and data acquired and processed by the instrument cabin is transmitted to a shore end platform through the radio antenna to realize real-time monitoring of the marine environment parameters; the position control method specifically comprises the following steps:
step one, acquiring buoy state parameters
When a measurement instruction is received, acquiring the floating displacement h (t) of the buoy in the vertical direction and the inclination angle theta (t) of the buoy (the included angle between the central axis of the buoy and the vertical direction) of the buoy in real time through an attitude sensor in an instrument cabin;
step two, controlling the floating adjusting mechanism
The telescopic quantity H (t) of the push cylinder is controlled in real time to ensure that the position of the winding drum in the vertical direction is fixed and unchanged under the conditions that the buoy floats up and down and inclines: controlling the expansion and contraction quantity H (t) of the push cylinder according to the real-time floating displacement H (t) of the buoy and the inclination angle theta (t) of the buoy, and taking H (t) = H (t) when the inclination angle theta (t) of the buoy is less than alpha; when the inclination angle theta (t) is more than or equal to alpha, H (t) = H (t)/cos (theta (t)), and alpha is a set value between 20 and 40 degrees;
step three, reel cable winding and unwinding control
To ensure that the monitoring device reaches a specified depth H exp Measuring, controlling the rotation of the drum with the rotation speed of T (T) and r/min to make the monitoring device continuously sink, and simultaneously acquiring the actual depth H of the detection device in real time according to a depth sensor in the monitoring device real (t)；
PID (proportion integration differentiation) mode is adopted to control rotating speed of winding drum
Figure GDA0004001504050000021
e(t)＝H exp -H real (t)，
Wherein K P 、K I 、K D Known coefficients given for each item according to empirical parameters;
step four, winch cable take-up and pay-off control
When measurement is carried out, the length L (t) of the cable placed by the winch needs to be larger than the sum of the length L' of the cable placed by the winding drum and the stretching amount H (t) of the push cylinder, so that the cable is prevented from being torn off due to floating adjustment, at the moment, L (t) = H (t) +2 pi rT (t) + delta, wherein r is the radius of the winding drum, delta is the adjustment allowance, and an arbitrary value between 0.3 and 0.5m is taken;
step five, layered measurement
After the measurement of a certain specified depth parameter is completed, the specified depth H is changed according to the measurement requirement exp And repeating the third step and the fourth step until the parameter measurement at all the specified depth positions is completed, stopping controlling the floating adjusting mechanism, controlling the winding drum and the winch to rotate to recover the cable, recovering the monitoring device into the buoy, and completing the measurement.
As a preferred scheme, in the third step, when e (t) is less than or equal to h c And when hc is more than or equal to 0.2 and less than or equal to 0.5m, namely the position deviation of the monitoring device is within the error allowable range, stopping the winding and unwinding control of the winding drum to save energy consumption.
As a preferred scheme, at least 3 support rods are arranged on the periphery of the winch on the floating body cabin, an upper support frame is arranged on each support rod, and a radio antenna, an anchor lamp and a lightning rod are arranged on the upper support frame.
Preferably, the power supply device is a solar panel.
As a preferred scheme, the bottom of the lower bracket is uniformly provided with the balancing weight, so that the gravity center of the buoy is inclined downwards, and the stable posture of the buoy is ensured.
Preferably, the cable is wound on the winding drum for more than 10 turns.
The invention has the beneficial effects that:
a buoy of the device is provided with a winch structure for collecting and releasing a water quality monitoring device, and monitored water body parameters are processed and then sent to a shore end platform through a radio antenna, so that real-time and accurate monitoring of layered seawater quality is realized; when the buoy measures the parameters of a water body below the sea surface, the floating adjustment mechanism compensates the fluctuation displacement difference of the buoy in real time, and ensures that the released cable can be stabilized at the measurement depth without being influenced by the floating of the buoy; and according to the cable posture, the winch retracting length is controlled in real time, so that the measuring device can accurately reach the measuring depth, and the parameter measuring accuracy is improved.
Drawings
FIG. 1 is an isometric view of an anchoring buoy with a winch according to the present invention;
FIG. 2 is a cross-sectional view of the winch-containing anchoring buoy of the present invention;
FIG. 3 is a top view of the winch-containing anchoring buoy of the present invention;
fig. 4 is a structural view of the floating adjustment mechanism of the present invention.
In the figure: 1-a floating body cabin; 2-lower support; 3-a balancing weight; 4-a monitoring device; 5-a cable; 6-a floating adjustment mechanism; 61-a fixed slide; 62-a sliding sleeve; 63-spool support; 64-pushing the cylinder; 65-a reel; 66-a motor; 7-a drive device; 8-a winch; 9-a radio antenna; 10-an anchor light; 11-a lightning rod; 12-upper support; 13-a support bar; 14-cable arrangement; 15-instrument chamber; 16-solar panel.
Detailed Description
Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1-4, an anchoring buoy monitoring device with a winch comprises a floating body cabin 1, wherein an instrument cabin 15 and a power supply device are arranged on the floating body cabin 1, and the power supply device is a solar panel 16. The lower part of the floating body cabin 1 is connected with a lower bracket 2, and the bottom of the lower bracket 2 is uniformly distributed with a balancing weight 3, so that the gravity center of the buoy is inclined downwards, and the stable posture of the buoy is ensured;
a winch 8 and a driving device 7 are arranged in the middle of the upper part of the floating body cabin 1, the winch 8 is driven by the driving device 7 to rotate and is used for winding and unwinding the cable 5, the cable 5 penetrates through a cable arranging device 14 and is then placed into the floating adjusting mechanism 6, and the floating adjusting mechanism 6 further controls the cable 5 to be wound and unwound;
the floating adjusting mechanism 6 comprises a hollow fixed sliding seat 61 and a sliding sleeve 62 sleeved on the fixed sliding seat 61, the top of the fixed sliding seat 61 is fixed with the inner wall of the floating body cabin 1, three pushing cylinders 64 are uniformly distributed on the upper section of the inner wall of the sliding sleeve 62 in the circumferential direction, the output ends of the pushing cylinders 64 are fixedly connected with the top of the corresponding fixed sliding seat 61, the sliding sleeve 62 moves up and down along the length direction of the fixed sliding seat 61 under the telescopic action of the pushing cylinders 64, a winding drum support 63 is arranged at the bottom of the sliding sleeve 62, a winding drum 65 and a motor 66 are arranged on the winding drum support 63, and the winding drum 65 rotates under the driving of the motor 66;
the cable 5 is wound on the reel 65 through the hollow part of the fixed sliding seat 61, and the number of turns of the cable 5 wound on the reel 65 is more than 10. The cable 5 is placed in the water through the winding drum 65, the bottom of the cable is connected with the monitoring device 4, the monitoring device 4 is used for monitoring underwater environment parameters, and data are transmitted to the instrument cabin 15 through the cable 5;
the instrument cabin 15 comprises a marine environment monitoring sensor for collecting marine surface seawater parameters, a data collection processor and an energy storage device, the floating body cabin 1 is provided with a radio antenna 9, and the data collected and processed by the instrument cabin 15 is sent to a shore end platform through the radio antenna 9, so that the marine environment parameters are monitored in real time;
at least 3 support rods 13 are arranged on the periphery of the winch 8 on the floating body cabin 1, an upper support frame 12 is arranged on each support rod 13, and the radio antenna 9, the anchor lamp 10 and the lightning rod 11 are arranged on the upper support frame.
After the buoy receives a shore end platform measuring signal through the radio antenna 9, the cable 5 is lowered through controlling the winch 8, the monitoring device 4 is sunk to different measuring depths, seawater parameters are collected at each depth position, data are transmitted to the instrument cabin 15 through the cable 5, the data are processed and then transmitted to the shore end through the radio antenna 9, and seawater layered parameter real-time monitoring is achieved;
in the actual operation process, the buoy is easily influenced by sea surface storms and swings up and down randomly, and the simultaneously lowered cable 5 and the monitoring device 4 are easily influenced by ocean currents and swing obliquely randomly, so that the monitoring device 4 is not located at the depth measuring position, and the seawater layering data have errors.
Therefore, the anchor system buoy monitoring device with the winch controls the winch 8 to take up and pay off the cable 5 and controls the floating adjusting mechanism 6 at the same time, and the depth of the monitoring device 4 is measured.
The position control method of the anchoring buoy monitoring device with the winch specifically comprises the following steps:
step one, acquiring buoy state parameters
When a measurement instruction is received, acquiring the floating displacement h (t) in the vertical direction of the buoy and the inclination angle theta (t) of the buoy (an included angle between the central axis of the buoy and the vertical direction) of the buoy in real time through an attitude sensor in an instrument cabin 15;
step two, controlling the floating adjusting mechanism
The expansion and contraction amount H (t) of the push cylinder 64 is controlled in real time to ensure that the position of the drum 65 in the vertical direction is fixed and constant under the condition that the buoy floats up and down and inclines: controlling the expansion and contraction quantity H (t) of the push cylinder 64 according to the real-time float displacement H (t) of the buoy and the inclination angle theta (t) of the buoy, and taking H (t) = H (t) when the inclination angle theta (t) of the buoy is less than alpha; when the inclination angle theta (t) is more than or equal to alpha, H (t) = H (t)/cos (theta (t)), and alpha is a set value between 20 and 40 degrees;
step three, reel cable winding and unwinding control
To ensure that the monitoring device 4 reaches a specified depth H exp Measuring, controlling the drum 65 to rotate, keeping the rotating speed of the drum 65 at T (T) and r/min, continuously sinking the monitoring device 4, and simultaneously acquiring the actual depth H of the detection device in real time according to the depth sensor in the monitoring device 4 real (t)；
PID control of the rotational speed of the drum 65
Figure GDA0004001504050000051
e(t)＝H exp -H real (t)，
Wherein K P 、K I 、K D Known coefficients given for each item according to empirical parameters;
step four, winch cable take-up and pay-off control
When measurement is carried out, the length L (t) of the cable 5 placed by the winch 8 is required to be larger than the sum of the length L' of the cable 5 placed by the winding drum 65 and the stretching amount H (t) of the push cylinder, so as to avoid the cable 5 from being broken due to floating adjustment, at the moment, L (t) = H (t) +2 pi rT (t) + delta, wherein r is the radius of the winding drum 65, delta is the adjustment allowance, and an arbitrary value between 0.3 and 0.5m is taken;
step five, layered measurement
After the measurement of a certain specified depth parameter is completed, the specified depth H is changed according to the measurement requirement exp And repeating the third step and the fourth step until the parameter measurement at all the specified depth positions is completed, stopping controlling the floating adjusting mechanism 6, controlling the winding drum 65 and the winch 8 to rotate the recovery cable 4, recovering the monitoring device 4 into the buoy, and completing the measurement.
In the third step, when e (t) is less than or equal to h c When the hc is more than or equal to 0.2 and less than or equal to 0.5m, namely the position deviation of the monitoring device 4 is within the error allowable range, the winding and unwinding control of the winding drum 65 is stopped to save energy consumption.
The foregoing embodiments are illustrative only of the principles and utilities of the present invention, as well as some embodiments, and are not intended to limit the invention; it should be noted that various changes and modifications can be made by those skilled in the art without departing from the inventive concept, and these changes and modifications fall within the scope of the invention.

Claims (6)

1. A position control method of an anchoring buoy monitoring device with a winch comprises a floating body cabin, wherein an instrument cabin and a power supply device are arranged on the floating body cabin, the lower part of the floating body cabin is connected with a lower support, the middle of the upper part of the floating body cabin is provided with the winch and a driving device, the winch is driven by the driving device to rotate and is used for winding and unwinding cables, and the cables penetrate through a cable arranging device arranged on the floating body cabin and are placed into a floating adjusting mechanism arranged at the lower part of the floating body cabin and used for further controlling the winding and unwinding of the cables;
the floating adjusting mechanism comprises a hollow fixed sliding seat and a sliding sleeve sleeved on the fixed sliding seat, the top of the fixed sliding seat is fixed with the inner wall of a floating body cabin, a plurality of push cylinders are uniformly distributed on the upper section of the inner wall of the sliding sleeve in the circumferential direction, the output ends of the push cylinders are fixedly connected with the tops of the corresponding fixed sliding seats, the sliding sleeve is enabled to move up and down along the length direction of the fixed sliding seat under the telescopic action of the push cylinders, a reel bracket is arranged at the bottom of the sliding sleeve, a reel and a motor are arranged on the reel bracket, the reel rotates under the driving of the motor, a cable penetrates through the hollow part of the fixed sliding seat and is wound on the reel, the cable is placed into the water through the reel, and the bottom of the cable is connected with a monitoring device,
the monitoring device is used for monitoring underwater environment parameters and transmitting data to the instrument cabin through a cable; the instrument cabin comprises a marine environment monitoring sensor for acquiring marine surface seawater parameters, a data acquisition processor and an energy storage device, a radio antenna is arranged on the floating body cabin, and data acquired and processed by the instrument cabin is transmitted to a shore-end platform through the radio antenna to realize real-time monitoring of the marine environment parameters; the position control method specifically comprises the following steps:
step one, acquiring buoy state parameters
When a measurement instruction is received, acquiring the floating displacement h (t) of the buoy in the vertical direction and the inclination angle of the buoy, namely the included angle theta (t) between the central axis of the buoy and the vertical direction in real time through an attitude sensor in an instrument cabin;
step two, controlling the floating adjusting mechanism
The telescopic quantity H (t) of the push cylinder is controlled in real time to ensure that the position of the winding drum in the vertical direction is fixed and unchanged under the conditions that the buoy floats up and down and inclines: controlling the expansion and contraction quantity H (t) of the push cylinder according to the real-time float displacement H (t) of the buoy and the inclination angle theta (t) of the buoy, and taking H (t) = H (t) when the inclination angle theta (t) of the buoy is less than alpha; when the inclination angle theta (t) is more than or equal to alpha, H (t) = H (t)/cos (theta (t)), and alpha is a set value between 20 and 40 degrees;
step three, reel cable winding and unwinding control
To ensure that the monitoring device reaches a specified depth H exp Measuring, controlling the rotation of the drum at a rotation speed T (T)) R/min, so that the monitoring device continuously sinks, and simultaneously, the actual depth H of the detection device is obtained in real time according to a depth sensor in the monitoring device real (t)；
PID (proportion integration differentiation) mode is adopted to control rotating speed of winding drum
Figure FDA0004001504040000021
e(t)＝H exp -H real (t)，
Wherein K P 、K I 、K D Known coefficients given for each item according to empirical parameters;
step four, winch cable take-up and pay-off control
When measurement is carried out, the length L (t) of a cable placed on a winch needs to be larger than the sum of the length L' of the cable placed on a winding drum and the stretching amount H (t) of a push cylinder, so that the cable is prevented from being broken due to floating adjustment, at the moment, L (t) = H (t) +2 pi rT (t) + delta, wherein r is the radius of the winding drum, delta is the adjustment allowance, and an arbitrary value between 0.3 and 0.5m is taken;
step five, layered measurement
After the measurement of a certain specified depth parameter is completed, the specified depth H is changed according to the measurement requirement exp And repeating the third step and the fourth step until the parameter measurement at all the specified depth positions is completed, stopping controlling the floating adjusting mechanism, controlling the winding drum and the winch to rotate to recover the cable, recovering the monitoring device into the buoy, and completing the measurement.
2. The method of claim 1, wherein the method further comprises the steps of: in the third step, when e (t) is less than or equal to h c When the hc is more than or equal to 0.2 and less than or equal to 0.5m, namely the position deviation of the monitoring device is within the error allowable range, the winding and unwinding control of the winding drum is stopped so as to save energy consumption.
3. The method of claim 1, wherein the method further comprises the steps of: at least 3 support rods are arranged on the periphery of the winch on the floating body cabin, an upper support frame is arranged on each support rod, and a radio antenna, an anchor lamp and a lightning rod are arranged on each upper support frame.
4. The method of claim 1, wherein the method further comprises the steps of: the power supply device is a solar panel.
5. The method of claim 1, wherein the method further comprises the steps of: the bottom of the lower bracket is uniformly provided with a balancing weight so that the gravity center of the buoy is inclined downwards and the stable posture of the buoy is ensured;
6. the method of any one of claims 1-5, wherein the method further comprises: the number of turns of the cable wound on the winding drum is more than 10.
CN202210100567.0A 2022-01-27 2022-01-27 Position control method for anchoring buoy monitoring device with winch Active CN114701602B (en)

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JP2009250780A (en) * 2008-04-07 2009-10-29 Matsue Doken Kk Water quality measurement system and water improving system
US8312768B2 (en) * 2009-07-10 2012-11-20 Centro De Investigaciones Submarinas S.L. Autonomous and remote-controlled multi-parametric buoy for multi-depth water sampling, monitoring, data collection, transmission, and analysis
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