拖曳式测量系统剖面运动控制与数据产品制作
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摘要
目前,具备升降运动功能,搭载多种传感器的拖曳系统成为国际先进水平的代表。国家863计划项目“拖曳式多参数剖面测量系统”针对我国海域的具体情况,提出研制具备升降功能的,携带CTD,DO,PH,叶绿素荧光计,浊度计,拖曳式营养盐分析仪等监测设备的拖曳系统。该设备的研制将填补我国在先进拖曳技术领域的空白。
作为我国第一种具备升降功能的拖曳系统,适合近海使用,具备快速响应、可靠性良好等特点的运动控制技术和适合多参数同步测量,具备联合计算,多源处理,图形化显示等特点的数据产品制作技术是该系统技术中两个重要组成部分。
本文在拖体动力外型设计基础上,通过对拖缆、拖体运动方程及耦合条件等经典公式分析,利用流体动力试验确定参数等步骤,建立了包含升降速度,抬首速度,拖体深度,俯仰角度等控制变量的拖曳系统运动模型。由于设计拖体适用于近海,运动速度快,系统响应速度与可靠性要求高于轨迹精度要求,因此设计了一种基于PID控制器的波浪运动控制方法,并进行了仿真试验。湖试结果证明该方法能够保证拖体按照预定的深度范围,快速上升下降,完成剖面测量,拖体运动周期稳定、轨迹对称,运动状态平稳。
拖曳式测量不同于传统的测量方式,拖曳测量数据产品制作方法需要充分体现拖曳式测量数据大范围、准同步的特点。本文从测量数据的获取及原始数据格式的设计入手,研究、设计了拖曳式测量数据采集通讯网络和处理软件,针对采样数据的特点设计了数据产品的关键处理技术和完整制作步骤。将该处理技术的结果与相关测量数据进行了比对,并利用海试数据进行了处理演示。
At present, a towed instrument platform that could "fly" up and down in the water column is in front of the towed technology in the world. The project of towed multiple-parameter profile sampling system, which is supported by 863 high technology plan, will develop a new kind of flying towed system. This system is equipped with CTD sensors as well as a variety of other sensors, such as fluorometer, transmissometer, Do, PH, etc. This system is the first flying towed system of China.
There are two important parts in the study of the flying towed system. one is appropriate control system, the other is data acquiring and processing system. Because the flying towed system will be used in shallow sea, the control system must be steady and responding quickly. The data acquiring and processing system must be suitable for multiple-parameter quickly sampling, combined calculating, figure displaying.
In the paper, based on the analysis of hydrodynamic equation about towed system and the results of the hydrodynamic experiment, a motion model of the towed system was built, which includes four variables: heaven rate, pitch rate, depth, pitch angle. To satisfy the demand of stability and quick response of the controller, a PID wave motion controller is designed. The results of computer simulations and real cruising test in Fuxian Lake show that this controller achieves the expected design requirements.
The towed surveying is different from the traditional surveying. Then, the technology of data acquiring and data processing must be suit for the characters, such as synchronous, associated and so on. To get the towed data, a lusty 485-232 mixed communication net and processing soft were designed. To deal with the data, a full set of processes to calculate and export the data was designed. The data processing system was proved to be scientific and reasonable by contrasting the data product with the seabird 917’s surveying data. At last, a part of sea test data is processed as an example.
作为我国第一种具备升降功能的拖曳系统,适合近海使用,具备快速响应、可靠性良好等特点的运动控制技术和适合多参数同步测量,具备联合计算,多源处理,图形化显示等特点的数据产品制作技术是该系统技术中两个重要组成部分。
本文在拖体动力外型设计基础上,通过对拖缆、拖体运动方程及耦合条件等经典公式分析,利用流体动力试验确定参数等步骤,建立了包含升降速度,抬首速度,拖体深度,俯仰角度等控制变量的拖曳系统运动模型。由于设计拖体适用于近海,运动速度快,系统响应速度与可靠性要求高于轨迹精度要求,因此设计了一种基于PID控制器的波浪运动控制方法,并进行了仿真试验。湖试结果证明该方法能够保证拖体按照预定的深度范围,快速上升下降,完成剖面测量,拖体运动周期稳定、轨迹对称,运动状态平稳。
拖曳式测量不同于传统的测量方式,拖曳测量数据产品制作方法需要充分体现拖曳式测量数据大范围、准同步的特点。本文从测量数据的获取及原始数据格式的设计入手,研究、设计了拖曳式测量数据采集通讯网络和处理软件,针对采样数据的特点设计了数据产品的关键处理技术和完整制作步骤。将该处理技术的结果与相关测量数据进行了比对,并利用海试数据进行了处理演示。
At present, a towed instrument platform that could "fly" up and down in the water column is in front of the towed technology in the world. The project of towed multiple-parameter profile sampling system, which is supported by 863 high technology plan, will develop a new kind of flying towed system. This system is equipped with CTD sensors as well as a variety of other sensors, such as fluorometer, transmissometer, Do, PH, etc. This system is the first flying towed system of China.
There are two important parts in the study of the flying towed system. one is appropriate control system, the other is data acquiring and processing system. Because the flying towed system will be used in shallow sea, the control system must be steady and responding quickly. The data acquiring and processing system must be suitable for multiple-parameter quickly sampling, combined calculating, figure displaying.
In the paper, based on the analysis of hydrodynamic equation about towed system and the results of the hydrodynamic experiment, a motion model of the towed system was built, which includes four variables: heaven rate, pitch rate, depth, pitch angle. To satisfy the demand of stability and quick response of the controller, a PID wave motion controller is designed. The results of computer simulations and real cruising test in Fuxian Lake show that this controller achieves the expected design requirements.
The towed surveying is different from the traditional surveying. Then, the technology of data acquiring and data processing must be suit for the characters, such as synchronous, associated and so on. To get the towed data, a lusty 485-232 mixed communication net and processing soft were designed. To deal with the data, a full set of processes to calculate and export the data was designed. The data processing system was proved to be scientific and reasonable by contrasting the data product with the seabird 917’s surveying data. At last, a part of sea test data is processed as an example.
引文
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