基于浮力驱动系统的低功耗升沉运动控制策略

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英文篇名：Control strategy of low energy consumption rising and diving motion based on buoyancy actuation system 作者：杨友胜 ; 杨翊坤 ; 穆为磊 ; 邢世琦 英文作者：YANG Yousheng;YANG Yikun;MU Weilei;XING Shiqi;College of Engineering,Ocean University of China; 关键词：地转海洋学实时阵列(ARGO)浮标 ; 混合浮力驱动 ; 压力补偿 ; 定深控制 ; 低功耗 英文关键词：real-time geostrophic oceanography buoy;;hybrid buoyancy actuation;;pressure compensation;;depth control;;low energy consumption 中文刊名：华中科技大学学报(自然科学版) 英文刊名：Journal of Huazhong University of Science and Technology(Natural Science Edition) 机构：中国海洋大学工程学院; 出版日期：2019-06-17 16:31 出版单位：华中科技大学学报(自然科学版) 年：2019 期：06 基金：国家自然科学基金资助项目(51475197,51275495);; 山东省重点研发计划资助项目(2017GGX30106);; 山东省自然科学基金资助项目(ZR2018MEE023);; 中央高校基本科研业务费专项资金资助项目(201562009);; 哈尔滨工程大学水下机器人技术国防科技重点实验室开放基金资助项目(SXJQR2017KFJJ04) 语种：中文; 页：62-67 页数：6 CN：42-1658/N ISSN：1671-4512 分类号：P715.2

摘要

针对地转海洋学实时阵列(ARGO)浮标的无动力升沉运动,提出了一种新型ARGO浮标混合浮力驱动技术(HBAT),介绍了其组成及工作原理;在分析ARGO浮标及HBAT特性的基础上,建立了ARGO浮标的数学模型.以降低下潜功耗、提升动态特性为目标,对多种浮力驱动控制器的动态特性及功耗进行了对比分析;同时,以上浮功耗最低为目标,对不同最大工作压差下的上浮运动中的功耗进行了分析.结果表明:在下潜运动中,模糊PID(比例-积分-微分)控制器在负载扰动下具有较好的动态特性与功耗特性,能够适应海洋复杂多变的环境,提升ARGO浮标工作性能;而在上浮运动过程中,当齿轮泵的最大工作压差为9.2 MPa时,浮力驱动系统的功耗最低,约为2.023 W·h.
        Aiming at unpowered rising and diving motion of array for real-time geostrophic oceanography(ARGO) buoy,a new type of ARGO buoy hybrid buoyancy actuation technology(HBAT) was presented, and the formation and principle were introduced.Based on analyzing the structure of ARGO buoy and the characteristics of HBAT,the simplified numerical models of ARGO buoy were developed.To improve the dynamic characteristics and reduce the energy consumption,various types of buoyancy actuation controller were developed,the dynamic characteristics and energy consumption under load disturbance were investigated,and comparisons were made among the controllers. Energy consumption was been studied under different maximum working pressure for improving the efficiency.The results show that fuzzy PID(proportion-integral-derivative) controller has advantages in dynamic characteristics and energy consumption.It has adaptabilities of ocean environment.Energy consumption is lowest under condition that the maximum working pressure is 9.2 MPa when the ARGO buoy is rising,it's about 2.023 W·h.

引文

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