CN115617058B - Bottom-sitting control method of full-submerged cultivation equipment - Google Patents
Bottom-sitting control method of full-submerged cultivation equipment Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Abstract
The application discloses a bottom-setting control method of full-submerged cultivation equipment, which relates to the technical field of ocean engineering.
Description
Technical Field
The application relates to the technical field of ocean engineering, in particular to a bottom control method of full-submerged cultivation equipment.
Background
Over the past few decades, with the increase in globalization pressure and global demand for aquatic products, the cage farming industry is undergoing a rapid change phase, and the current trend is that cage farming is gradually expanding into open waters that are not developed in open sea, so that pressure on the offshore ecosystem can be reduced.
However, the cultivation platform is more easily affected by severe natural conditions such as typhoons in open water, when the cultivation platform is subjected to severe environmental conditions such as typhoons, the storm strength is greatly improved, the environment load born by the cultivation platform is far beyond usual, the mooring positioning capability and the security of the cultivation platform face serious challenges, and the risks of the failure of the cultivation platform and the damage of fish shoals exist.
In order to improve the safety of the cultivation platform under severe natural conditions, the concept of full-submerged cultivation equipment is gradually proposed and applied, and the full-submerged cultivation equipment is in a semi-submerged state under normal operation sea conditions and has the characteristics of large area and deep draft. When encountering severe environmental conditions such as typhoons, the fully-submerged cultivation equipment is submerged to the water bottom to realize the bottom-sitting anti-stage so as to be far away from the strong action of wave energy on the water surface, thereby greatly reducing and even completely eliminating wind load, and greatly reducing wave load under a certain depth, so that the safety is improved.
The full-submerged cultivation equipment is one of key technologies which need to be mainly solved when facing severe sea conditions such as typhoons, effectively and quickly submerged and successfully sitting down, but the submerged process of the full-submerged cultivation equipment is influenced by various factors, the technical difficulty is high, and a good sitting down control method is not available at present and can only be controlled through human experience.
Disclosure of Invention
Aiming at the problems and the technical requirements, the applicant provides a bottom control method of full-submerged cultivation equipment, and the technical scheme of the application is as follows:
a bottom-sitting control method of full-submerged cultivation equipment, the method comprises the following steps:
determining a plurality of different candidate liquid injection rates when liquid is injected into the full submerged farming equipment using a predetermined liquid injection scheme, the predetermined liquid injection scheme comprises the steps of injecting liquid into the full-submerged cultivation equipment according to the corresponding liquid injection rate until the full-submerged cultivation equipment reaches neutral balance mass m 1 Stopping when the operation is stopped;
for each candidate liquid injection rate, solving a hydrodynamic model of the full-submerged cultivation equipment in the whole bottom-sitting process to obtain a bottom-sitting motion parameter of the full-submerged cultivation equipment when reaching the seabed, wherein the hydrodynamic model reflects the relation between the real-time motion parameter and the real-time stress of the full-submerged cultivation equipment in the whole bottom-sitting process, and the whole bottom-sitting process comprises a liquid injection stage and an inertial bottom-sitting stage after the liquid injection is finished;
determining the target liquid injection rate according to the sitting bottom motion parameters corresponding to the various candidate liquid injection rates;
when the full-submerged cultivation equipment enters a bottom-sitting state, a preset liquid injection scheme is adopted to inject liquid into the full-submerged cultivation equipment according to the target liquid marking rate.
The further technical scheme is that the sitting bottom movement parameters comprise the movement speed of the sitting bottom when reaching the seabed and the total submergence time required for reaching the seabed, and the method for determining the target marking liquid rate comprises the following steps:
and taking the candidate liquid injection rate which corresponds to the movement speed when reaching the seabed and is within a preset speed range and has the shortest total submergence time required for reaching the seabed as the target liquid injection rate.
The real-time motion parameters of the full-submerged cultivation equipment in the whole bottom sitting process comprise motion speed v and submergence depth h, and the real-time stress of the full-submerged cultivation equipment in the whole bottom sitting process comprises gravity G, buoyancy B and inertia force F a And resistance F d The gravity G of the full-submerged cultivation equipment in the liquid injection stage dynamically changes along with the liquid injection process and keeps unchanged in the inertial bottoming stage, and the full-submerged cultivation equipment receives buoyancy B and inertial force F in the whole bottoming process a And resistance F d Are dynamically changed along with the real-time motion parameters.
The technical proposal is that, the hydrodynamic model of the full-submerged cultivation equipment in the whole bottom sitting process is thatWherein g=mg, m is the mass of the full submerged cultivation equipment and dynamically changes in the liquid injection stage, and remains at neutral equilibrium mass m in the inertial bottoming stage 1 G is the gravitational acceleration.
The further technical proposal is that the full-submerged cultivation equipment receives buoyancy force B=ρ.delta (h) in the whole bottom sitting process; inertial force applied to whole bottom-sitting process of full-submerged cultivation equipmentC a Is an inertial force coefficient; acceleration when the fully submerged farming equipment>Downward inertial force F a Is positive; acceleration when the fully submerged farming equipment>Upward inertial force F a Negative; the whole submerged cultivation equipment is subjected to resistance in the whole bottom sitting process>C d Is the resistance coefficient; where ρ is the water density of the water area in which the fully submerged farming equipment is located, Δ (h) represents the volume of water discharged by the fully submerged farming equipment in relation to the submergence depth h, and a (h) is the projected area of the fully submerged farming equipment on a plane perpendicular to the flow velocity and varies with the submergence depth h.
The method for solving the motion parameters of the bottom of the full-submerged cultivation equipment in the whole bottom-sitting process comprises the following steps of:
taking m (t) =m 0 +at is substituted into a hydrodynamic model of the full-submersible type cultivation equipment, and the length of the full-submersible type cultivation equipment in the submersible period is obtained by solvingA movement speed v and a submerging depth h at the completion time of the liquid injection stage of (2), wherein m 0 The initial mass of the full-submerged cultivation equipment before liquid injection is provided, and t is the submergence time of the full-submerged cultivation equipment;
taking m (t) =m 1 Substituting the initial value of the inertial bottoming stage into a hydrodynamic model of the full-submerged cultivation equipment, and solving to obtain bottoming motion parameters when the full-submerged cultivation equipment reaches the seabed by taking the motion speed v and the submerging depth h at the completion time of the liquid injection stage as initial values of the inertial bottoming stage.
The method has the further technical scheme that the method solves a hydrodynamic model of the full-submersible cultivation equipment in the whole bottom-sitting process and comprises the following steps:
the corresponding submerging time length in the liquid injection stageSolving the +.f using the fourth-order Dragon-Gregory tower method>
Corresponding submergence time length in inertial bottoming stageSolving the +.f using the fourth-order Dragon-Gregory tower method>
The method further comprises the following steps:
solving a hydrodynamic model of the full-submersible cultivation equipment in the whole bottom-sitting process to obtain real-time motion parameters of the full-submersible cultivation equipment in each submerging moment in the whole bottom-sitting process.
The method further comprises the following steps:
the hydrodynamic model of the full-submerged cultivation equipment is utilized to estimate the stress when the full-submerged cultivation equipment completes the whole bottom-sitting process and reaches the sea bed, and the horizontal force F suffered by the full-submerged cultivation equipment is obtained by estimation H Pull-up force F V And a bending moment M, wherein the full submerged cultivation equipment is subjected to a horizontal force F H Is the inertial force F suffered by the full-submersible cultivation equipment a And resistance F d The maximum value of the horizontal component of (2), the pull-up force F to which the full submerged cultivation equipment is subjected V Is the inertial force F suffered by the full-submersible cultivation equipment a And resistance F d A maximum of the vertically upward component of (2);
horizontal force F based on full submerged cultivation equipment H On the upper part pulling force F V And the bending moment M determines the target wet weight to be achieved by the full-submerged cultivation equipment, and after the full-submerged cultivation equipment completes the whole bottom sitting process and reaches the seabed, the full-submerged cultivation equipment is supplemented with liquid injection until the full-submerged cultivation equipment achieves the target wet weight.
The method for determining the target wet weight to be achieved by the full-submerged cultivation equipment comprises the following steps:
based on the target that the full-submerged cultivation equipment does not slip or overturn, determining that the wet weight of the target to be achieved by the full-submerged cultivation equipment isη is the safety factor greater than 1 and μ is the friction between the total submerged farming equipment and the surface of the seabedThe coefficient of friction, r, is the distance from the center of the total submerged farming equipment to the edge pivot, +.>Representation pairAnd->Take the maximum value.
The beneficial technical effects of this application are:
the method adopts a control method that the front half liquid injection is adopted to enable the full-submerged cultivation equipment to be submerged in an accelerating way and the back half liquid injection is stopped depending on inertia, and carries out quick and accurate quantitative evaluation on the dynamic characteristics of the submerged process of the full-submerged cultivation equipment through a hydrodynamic model, so that the optimal liquid injection rate of the front half is selected, the full-submerged cultivation equipment can reduce the impact on the seabed surface during bottom touching while shortening the total submerged time of the bottom sitting process as much as possible, and shortens the time spent in the bottom sitting stage resisting process and ensures the safety.
According to the method, the dynamic characteristics of the submerged process of the full-submerged cultivation equipment are evaluated by constructing the hydrodynamic model, the influence of various factors such as ballast water variable mass, dynamic buoyancy, dynamic resistance and dynamic inertia force in the submerged process of the full-submerged cultivation equipment is fully considered by the constructed hydrodynamic model, the time domain analysis of the whole process of the bottom-sitting anti-stage of the full-submerged cultivation equipment can be realized, and the optimal design of the bottom-sitting process is further developed based on the time domain analysis. The engineering realizability is better, and the evaluation accuracy is higher.
The method not only can quantitatively evaluate the sitting motion parameters of the full-submerged cultivation equipment reaching the seabed under different liquid injection rates, but also can monitor the real-time change information of the submergence depth and the real-time change information of the motion rate of the whole sitting process in real time, thereby being beneficial to real-time monitoring of the motion parameters of the whole sitting process.
After the full-submerged cultivation equipment finishes sitting to the seabed, the method further supplements liquid injection for the full-submerged cultivation equipment, so that the full-submerged cultivation equipment has a certain wet weight to keep sitting stability.
Drawings
FIG. 1 is a method flow diagram of a bottoming control method in one embodiment of the present application.
FIG. 2 is a schematic illustration of the entire bottoming process of the fully submersible farming equipment in one example of the present application.
FIG. 3 is a graph of the submergence depth of the entire bottoming process of the full submergence farming equipment as a function of submergence time in one example of the present application.
Detailed Description
The following describes the embodiments of the present application further with reference to the accompanying drawings.
The application discloses a method for controlling the sitting bottom of full submerged cultivation equipment, which comprises the following steps of referring to a schematic diagram shown in fig. 1:
according to the bottom-sitting control method, when the full-submerged cultivation equipment is subjected to severe natural conditions such as typhoons and the like and needs to enter a bottom-sitting state, liquid is filled into the full-submerged cultivation equipment through the water pump according to the preset liquid filling scheme until the full-submerged cultivation equipment reaches neutral balance mass m 1 And stopping liquid injection, and after liquid injection is stopped, continuing the submerged cultivation equipment to submerge by means of self inertia until finally reaching the seabed. Thus, based on the bottoming control method of the present application, the entire bottoming process of the full submersible farming equipment typically includes two stages in sequence: and a liquid injection stage and an inertial sitting stage after the liquid injection is finished.
In the liquid injection stage, the liquid is continuously injected into the full-submerged cultivation equipment at a constant speed through a water pump, and the initial mass m of the full-submerged cultivation equipment before liquid injection 0 Is fixed and known, the initial mass m 0 The quality of the full-submersible type cultivation equipment when the full-submersible type cultivation equipment is ready to submerge before entering a sitting state. Neutral balance mass m of full-submerged cultivation equipment 1 Is also preset and fixed and known. Therefore, the total amount of liquid required to be injected into the full submerged cultivation equipment in the liquid injection stage is determined as m 1 -m 0 . But is provided withOn the premise of uniform injection in the injection stage, when injection is carried out at different injection rates, the required total amount m of the injection is completed 1 -m 0 The time required is different and the total time required for the priming phase is different. Moreover, when the liquid injection rates are different, the submerging speed of the full-submerged cultivation equipment and the motion parameters in the whole bottom sitting process are correspondingly changed, so that the core of the method is to determine the optimal liquid injection rate.
First, a plurality of different candidate liquid injection rates are determined when liquid is injected into the full submerged cultivation apparatus by adopting a preset liquid injection scheme, namely the preset liquid injection scheme is as described above: filling liquid into the full-submerged cultivation equipment according to the corresponding liquid filling rate until the full-submerged cultivation equipment reaches neutral balance mass m 1 A stop-at-time scenario. The plurality of different candidate fill rates includes a variety of fill rates that may be actually achieved, such as when using an adjustable speed water pump to fill the liquid, a variety of fill rates that may be adjusted are determined. For another example, when multiple pumps are used for the injection, various injection rates that can be achieved by combinations of different pumps are determined. FIG. 1 is a graph of a defined plurality of priming rates 1 、a 2 …a L For example, wherein L.gtoreq.2.
And solving a hydrodynamic model of the full-submersible cultivation equipment in the whole bottoming process for each candidate liquid injection rate a to obtain bottoming motion parameters when the full-submersible cultivation equipment reaches the seabed.
The step needs to solve a hydrodynamic model of the full-submersible type cultivation equipment in the whole bottom-sitting process, so that the hydrodynamic model needs to be constructed firstly, and the hydrodynamic model reflects the relation between real-time motion parameters and real-time stress of the full-submersible type cultivation equipment in the whole bottom-sitting process. The real-time motion parameters of the full-submerged cultivation equipment in the whole bottom sitting process comprise a motion speed v and a submergence depth h.
The real-time stress of the full submerged cultivation equipment in the whole bottom sitting process comprises gravity G, buoyancy B and inertial force F a And resistance F d . The hydrodynamic model of the full submerged cultivation equipment in the whole bottom sitting process can be expressed as Is the derivative of the submergence depth h, +.>The derivative of the movement velocity v is indicated. The gravity G of the full-submerged cultivation equipment in the liquid injection stage is dynamically changed along with the liquid injection process, and the gravity G is kept unchanged in the inertial bottoming stage. The full-submersible cultivation equipment is subjected to buoyancy B and inertia force F in the whole bottom sitting process a And resistance F d Are dynamically changed along with the real-time motion parameters. Wherein:
(1) Gravity g=mg, m of the full submerged cultivation equipment in the liquid injection stage is the mass of the full submerged cultivation equipment and dynamically changes in the liquid injection stage and keeps neutral balance mass m in the inertial bottoming stage 1 G is the gravitational acceleration. With the moment when the liquid is injected into the full-submerged cultivation equipment started being the moment of the submergence time period t=0, the change of the quality of the full-submerged cultivation equipment along with the submergence time period t can be expressed as
(2) The buoyancy force B=ρ.delta (h) of the full submerged cultivation equipment in the whole bottom sitting process, ρ is the water density of the water area where the full submerged cultivation equipment is located, and delta (h) represents the drainage volume of the full submerged cultivation equipment related to the submergence depth h.
(3) Inertial force applied to whole bottom-sitting process of full-submerged cultivation equipmentC a Is the inertial force coefficient. The application uses the vertical downward direction as the positive direction, and the inertia force F a Is defined by the acceleration of the fully submerged farming equipment>Deciding, when acceleration of the full submerged cultivation equipment +.>Downward inertial force F a Positive, in fact inertial force F a At this time, the motion of the full-submerged cultivation equipment is blocked; acceleration when the fully submerged farming equipment>Upward inertial force F a Is negative, in fact when the inertial force F a Causing the fully submerged farming equipment to move downwards.
(4) The full submerged cultivation equipment is subjected to resistance in the whole bottom sitting processC d Is the drag coefficient. A (h) is the projected area of the fully submerged farming equipment on a plane perpendicular to the flow velocity and varies with the submergence depth h.
The method for solving the parameters of the bottom motion of the full submerged cultivation equipment in the whole bottom sitting process comprises the following steps of for any candidate liquid injection rate a:
taking m (t) =m 0 +at is substituted into a hydrodynamic model of the full-submersible type cultivation equipment, and the length of the full-submersible type cultivation equipment in the submersible period is obtained by solvingThe motion speed v and the submerging depth h at the completion time of the liquid injection stage.
Then take m (t) =m 1 Substituting the initial value of the inertial bottoming stage into a hydrodynamic model of the full-submerged cultivation equipment, and solving to obtain bottoming motion parameters when the full-submerged cultivation equipment reaches the seabed by taking the motion speed v and the submerging depth h at the completion time of the liquid injection stage as initial values of the inertial bottoming stage.
The formula can be used to express: the corresponding submerging time length in the liquid injection stageSolving the +.f using the fourth-order Dragon-Gregory tower method>The corresponding submergence time length in the inertial base stage +.>Is solved by adopting a fourth-order Dragon lattice tower method within the range
The parameters of the bottoming movement of the full submersible cultivation equipment when reaching the seabed can be solved, wherein the parameters comprise the movement speed of the bottoming when reaching the seabed and the total submergence time required for reaching the seabed. Besides the acquired sitting motion parameters when the sitting reaches the seabed, the real-time motion parameters of the full-submerged cultivation equipment at each submerging moment in the whole sitting process can be obtained by solving the hydrodynamic model, so that the motion parameters in the full sitting process are monitored.
According to the method, the sitting motion parameters of the full-submerged cultivation equipment when reaching the seabed at different candidate liquid injection rates a can be obtained through solving, and then the better candidate liquid injection rate is selected as the target liquid injection rate according to the sitting motion parameters corresponding to the various candidate liquid injection rates. On the one hand, the bottom-setting process of the full-submerged cultivation equipment is required to be as quick as possible, and in addition, the impact on the sea floor surface cannot be too great when the sea floor is reached, so that the candidate liquid injection rate which corresponds to the movement speed when the sea floor is reached and has the shortest total submergence time required for reaching the sea floor is used as the target liquid injection rate. And then when the full-submerged cultivation equipment enters a sitting state, the predetermined liquid injection scheme can be adopted to inject liquid into the full-submerged cultivation equipment according to the determined target liquid injection rate. In combination with the schematic diagram of the entire bottoming process of the full-submerged cultivation equipment from the sea surface to the seabed surface in the bottoming state shown in fig. 2, in one example, the variation curve of the submerging depth h of the entire bottoming process of the full-submerged cultivation equipment is shown in fig. 3, and as can be seen from fig. 3, based on the predetermined liquid injection scheme adopted in the application, the movement speed v of the full-submerged cultivation equipment in the initial submerging stage is faster, the submerging depth h is increased faster, and the movement speed v tends to be slow when approaching to the seabed, so that the impact on the seabed surface during bottoming can be reduced while the total submerging time of the bottoming process is shortened as much as possible, and the safety is improved.
In another embodiment, the hydrodynamic model of the fully submerged cultivation equipment is also used for estimating the stress when the fully submerged cultivation equipment reaches the sea bed after completing the whole bottom sitting process, and estimating the horizontal force F to which the fully submerged cultivation equipment is subjected H Pull-up force F V And a bending moment M. The speed item and the acceleration item adopt the water quality point speed and the phase speed during calculation, and the horizontal force F born by the full-submerged cultivation equipment H Inertial force F experienced by the fully submersible farming equipment a And resistance F d The maximum value of the horizontal component of the total submerged cultivation equipment is calculated to obtain the pulling-up force F V Inertial force F experienced by the fully submersible farming equipment a And resistance F d Is calculated from the maximum value of the vertically upward component of (c). Then based on the horizontal force F suffered by the full-submersible cultivation equipment H Pull-up force F V And the bending moment M determines the target wet weight to be achieved by the full-submerged cultivation equipment, and after the full-submerged cultivation equipment completes the whole bottom-sitting process and reaches the seabed, the full-submerged cultivation equipment is supplemented with liquid until the target wet weight is achieved, so that the whole full-submerged cultivation equipment has a certain wet weight to maintain the bottom-sitting stability under the current environment.
The horizontal force resisted by the full submerged cultivation equipment is equal to the wet weight of the full submerged cultivation equipment minus the pulling-up force F V And multiplying the wet weight of the full-submerged cultivation equipment by the distance r from the center to the edge fulcrum of the full-submerged cultivation equipment by the friction coefficient mu of the surface of the full-submerged cultivation equipment and the seabed. Therefore, the wet weight of the target to be achieved by the full-submerged cultivation equipment is determined to be based on the target that the full-submerged cultivation equipment does not slip or overturnη is a safety factor greater than 1 such as 1.4 may be generally used. Wherein, the liquid crystal display device comprises a liquid crystal display device,representation pair->And->Maximum value (maximum value)>Ensure that the full submerged cultivation equipment does not slip under the target wet weight, and is +.>The full-submerged cultivation equipment is ensured not to topple under the target wet weight. What has been described above is only a preferred embodiment of the present application, which is not limited to the above examples. It is to be understood that other modifications and variations which may be directly derived or contemplated by those skilled in the art without departing from the spirit and concepts of the present application are to be considered as being included within the scope of the present application.
Claims (9)
1. A method for controlling the bottoming of a fully submerged farming plant, the method comprising:
determining a plurality of different candidate liquid injection rates when liquid is injected into the fully submerged farming equipment using a predetermined liquid injection scheme that includes injecting liquid into the fully submerged farming equipment at corresponding liquid injection rates until the fully submerged farming equipment reaches a neutral balance mass m 1 Stopping when the operation is stopped;
for each candidate liquid injection rate, solving a hydrodynamic model of the full-submerged cultivation equipment in the whole bottom-sitting process to obtain a bottom-sitting motion parameter of the full-submerged cultivation equipment when reaching a seabed, wherein the hydrodynamic model reflects the relation between the real-time motion parameter and the real-time stress of the full-submerged cultivation equipment in the whole bottom-sitting process, and the whole bottom-sitting process comprises a liquid injection stage and an inertial bottom-sitting stage after the liquid injection is finished;
determining a target liquid marking rate according to the bottom sitting motion parameters corresponding to various candidate liquid filling rates, wherein the bottom sitting motion parameters comprise the motion speed of the bottom sitting when reaching the seabed and the total submergence time required for reaching the seabed, and the method for determining the target liquid marking rate comprises the following steps: taking the candidate liquid injection rate which corresponds to the movement speed reaching the seabed and is within a preset speed range and has the shortest total submergence time required for reaching the seabed as the target liquid injection rate;
and when the full-submerged cultivation equipment enters a sitting state, adopting the preset liquid injection scheme to inject liquid into the full-submerged cultivation equipment according to the target liquid injection rate.
2. The method according to claim 1, wherein the real-time motion parameters of the fully submerged cultivation equipment during the whole sitting process comprise motion speed v and submergence depth h, and the real-time stress of the fully submerged cultivation equipment during the whole sitting process comprises gravity G, buoyancy B and inertia force F a And resistance F d The gravity G of the full-submerged cultivation equipment in the liquid injection stage is dynamically changed along with the liquid injection process and is kept unchanged in the inertial bottoming stage, and the full-submerged cultivation equipment is subjected to buoyancy B and inertial force F in the whole bottoming process a And resistance F d Are dynamically changed along with the real-time motion parameters.
3. The method according to claim 2, wherein the hydrodynamic model of the total submersible farming equipment throughout the bottoming process isWherein g=mg, m is the mass of the full submerged cultivation equipment and dynamically changes in the liquid injection stage, and remains at neutral equilibrium mass m in the inertial bottoming stage 1 G is the gravitational acceleration.
4. The method of claim 3, wherein the step of,
the buoyancy B=ρ.delta (h) of the full submerged cultivation equipment in the whole bottom sitting process;
inertial force applied to whole bottom sitting process of full-submerged cultivation equipmentC a Is an inertial force coefficient; acceleration when the fully submerged farming equipment>Downward inertial force F a Is positive; acceleration when the fully submerged farming equipment>Upward inertial force F a Negative;
the full-submersible cultivation equipment is subjected to resistance in the whole bottom sitting processC d Is the resistance coefficient;
where ρ is the water density of the water area in which the fully submerged farming equipment is located, Δ (h) represents the drainage volume of the fully submerged farming equipment in relation to the submergence depth h, and a (h) is the projected area of the fully submerged farming equipment on a plane perpendicular to the flow velocity and varies with the submergence depth h.
5. The method of claim 4, wherein the method of solving for the bottoming motion parameters of the fully submerged farming equipment throughout the bottoming process comprises, for any candidate fill rate a:
taking m (t) =m 0 +at is substituted into the hydrodynamic model of the fully submerged cultivation equipment, and the length of the fully submerged cultivation equipment in the submergence period is obtained by solvingA movement speed v and a submerging depth h at the completion time of the liquid injection stage of (2), wherein m 0 Is that the full-submerged cultivation equipment is filled with liquidThe previous initial mass, t, is the submergence duration of the fully submerged farming equipment;
taking m (t) =m 1 Substituting the hydrodynamic model of the full-submersible cultivation equipment, taking the motion speed v and the submerging depth h at the completion time of the liquid injection stage as initial values of an inertial bottoming stage, and solving to obtain bottoming motion parameters when the full-submersible cultivation equipment reaches the seabed.
6. The method of claim 5, wherein solving a hydrodynamic model of the total submersible farming equipment throughout the bottoming process comprises:
the corresponding submerging time length in the liquid injection stageIs solved by adopting a fourth-order Dragon lattice tower method within the range
Corresponding submergence time length in inertial bottoming stageIs solved by adopting a fourth-order Dragon lattice tower method within the range
7. A method according to claim 3, characterized in that the method further comprises:
and solving a hydrodynamic model of the full-submerged cultivation equipment in the whole bottom sitting process to obtain real-time motion parameters of the full-submerged cultivation equipment in each submerged moment in the whole bottom sitting process.
8. A method according to claim 3, characterized in that the method further comprises:
hydrodynamic model using the fully submerged cultivation equipmentThe stress when the whole bottoming process of the fully submerged cultivation equipment reaches the sea bed is estimated, and the horizontal force F born by the fully submerged cultivation equipment is estimated H Pull-up force F V And a bending moment M, wherein the full-submersible farming equipment is subjected to a horizontal force F H Is the inertial force F suffered by the full-submersible cultivation equipment a And resistance F d The maximum value of the horizontal component of the full-submerged cultivation equipment is provided with a pulling-up force F V Is the inertial force F suffered by the full-submersible cultivation equipment a And resistance F d A maximum of the vertically upward component of (2);
based on horizontal force F suffered by the fully submerged cultivation equipment H Pull-up force F V And the bending moment M determines the target wet weight to be achieved by the full-submerged cultivation equipment, and after the full-submerged cultivation equipment completes the whole bottom-sitting process and reaches the seabed, the full-submerged cultivation equipment is supplemented with liquid until the full-submerged cultivation equipment achieves the target wet weight.
9. The method of claim 8, wherein determining a target wet weight to be achieved by the fully submersible farming equipment comprises:
determining that the target wet weight to be achieved by the full-submerged cultivation equipment is based on the target that the full-submerged cultivation equipment does not slip or toppleη is a safety factor greater than 1, μ is a coefficient of friction of the surface of the fully submerged farming equipment with the seabed, r is the distance from the centre of the fully submerged farming equipment to the edge support point,representation pair->And->Take the maximum value.
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| CN102640715B (en) * | 2012-04-18 | 2014-07-02 | 上海交通大学 | Lifting net box with inner liner and lifting support system of lifting net box |
| CN202819301U (en) * | 2012-10-24 | 2013-03-27 | 青岛利东海洋网箱科技有限公司 | Floating net cage vertical type balance buoyancy device |
| GB201418625D0 (en) * | 2014-10-20 | 2014-12-03 | Seafarm Products As | Submersible cage for aquaculture |
| CN105766749B (en) * | 2015-12-04 | 2019-07-12 | 周俊麟 | A kind of off-lying sea cultivation wind resistance wave type radial type net cage |
| CN107801669B (en) * | 2017-09-28 | 2020-11-06 | 大连理工大学 | Cage lifting control platform, lifting control system of floatable cage and lifting control method |
| CN110250064A (en) * | 2019-06-19 | 2019-09-20 | 中集海洋工程研究院有限公司 | The seat bottom method of net cage and net cage |
| CN112243914B (en) * | 2020-10-22 | 2022-06-07 | 闽江学院 | Deep sea cultivation gravity type net cage water pumping and injecting lifting control method |
| CN112154954A (en) * | 2020-10-27 | 2021-01-01 | 曹震 | Full-submerged suspension type breeding equipment |
| CN113854214A (en) * | 2021-09-29 | 2021-12-31 | 江苏科技大学 | Mariculture net cage structure based on semi-submersible offshore wind power foundation |
| CN216874533U (en) * | 2022-03-16 | 2022-07-05 | 湖北海洋工程装备研究院有限公司 | Culture net cage |
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