摘要
对江河水库悬移质进行监测,一般需要采集水样进行分析。近几十年来,研究人员设计了多种水文采样采水器,但普遍存在着劳动强度大、水下通信距离短、水深测量不精准等缺陷。随着三峡大坝的蓄水,对水深接近200米的水域进行水文采样成为一个无法回避的问题。为提高水深测量精度,降低劳动强度,解决三峡大坝蓄水后对深水水域进行水文采样的实际问题,本文设计了一种基于动态水深测量技术、水声通信技术、液压绞车控制技术的深水水文采样自动控制系统。
依据国家标准及水文采样的工作流程,确定了水文采样系统的控制方案。控制系统包括水下控制器和水上控制器；水下控制器以单片机为核心,通过压力传感器动态测量水深；水上控制器以PLC为下位机,对液压绞车进行控制,以PC机为上位机,实现采水流程控制及人机操作界面；整个系统以PC机为主控制器。
设定压力测深的具体指标和总体需求,分析了压力测深的误差来源。对压力传感器进行温度补偿实验,能在有效的范围内进行温度补偿。设计了基于系统模型的Kalman滤波器,能有效滤除外部的噪声干扰。建立了波浪的模型,通过理论和仿真分析了波浪对测深的影响。运用伯努利方程构建了水流对压强的影响模型,并通过仿真进行了分析和验证。设计了水下控制器硬件平台和软件。
根据水文采样系统工作的特定环境,分析了系统对水声通信模块的要求以及模块工作环境噪声来源,对多源噪声背景下水声通信算法做了研究,提出了利用阈值替代叠加法和相干自适应器结合的方式对接收的水声信号进行滤波,通过仿真验证了此方法对多元多源噪声抑制的效果。在此基础之上,设计了水声通信模块的硬件与软件,并将算法嵌入到控制系统中,大大降低了水声通信的误码率。
设计了液压绞车控制PLC接线图和PLC程序；建立了液压绞车数学模型,研究设计了液压绞车速度控制器和采水铅鱼水深定位控制器并进行了仿真分析,结果表明两种控制器均满足性能指标要求；设计了主控制器软件流程和人机操作界面。
进行了实验室试验和现场水文采样试验,试验结果表明该系统水深测量精度、水声通信效果、动态响应速度等指标均满足设计要求。
在以上研究的基础上,本课题取得如下成果：
(1)提出了一种新的深水水文采样全自动、全闭环控制方案。
(2)设计了水下控制器硬件和软件,实现了动态水深测量；针对特定水域压力测深误差来源,提出了相应的抗干扰措施,使动态水深测量相对误差提高到2%以内。
(3)设计了水声通信模块硬件和软件,实现水上控制器和水下控制器的无线通信；提出了水声通信抗多元多源干扰方法,使水下距离接近200m时,通信成功率达到约60%。
(4)设计了水上控制器软件,实现采水过程全自动控制,将单垂线六点法采样时间降低到450秒左右,大大提高了水文采样的工作效率。
本课题设计的深水水文采样自动控制系统水深测量精度高、水下通信有效距离长,自动化程度高,能够在动态测量水深的基础上,实现水文采样的全闭环控制以及单垂线六点法水文采样的全自动流程控制,对于深水水域的水文采样具有重大的实际意义和广阔的应用前景。
Analysis on sampling water is required for monitoring suspended load of the rivers and reservoirs. In recent decades, the researchers designed a variety of hydrological sampling water samplers, which have prevalence defects as follows:labor-intensive, short underwater communication distance, and imprecise depth measurement. With the impoundment of the Three Gorges Dam, to carry out hydrological sampling in more than200meters deep waters become an unavoidable problem. In order to improve the accuracy of water depth measurement, to reduce labor intensity, to solve the problems of Three Gorges Dam on deep water of hydrological sampling, this dissertation designs a automatic control system for deepwater hydrographic sampling that based on dynamic depth measurement technology, underwater acoustic communication technology, and hydraulic winch control technology.
Based on national standards and hydrological sampling workflow, the control program of hydrological sampling system is identified. The control system includes underwater controller and surface controller. The underwater controller takes single-chip as the core and measure the water depth by the pressure sensor. Surface controller takes PLC as lower machine which realizes hydraulic winch control and takes PC as host computer which realizes water harvesting process control and man-machine interface. The entire system based on PC as main controller.
The concrete index of pressure depth and aggregate demand is set, and the error sources of pressure sounding are analyzed. The temperature compensation experiment has been completed for pressure sensor, which can realize the temperature compensation within effective compensation range. The Kalman filter based on system model is designed to filter out outside noise. Wave model is established and the effect that the wave brings on sounding is analyzed through theory and simulation.
The model that the water flow affects on the pressure is constructed by using the Bernoulli equation. And the analysis and verification is achieved through the simulation. Pressure sounding hardware platform and software are designed.
According to the specific working environment of hydraulic sampling system, the requirements of the underwater acoustic communication module and the noise source of module working environment are analyzed. Water acoustic communication algorithm for multi-source noise background is studied. A threshold alternative combination of superposition method and coherent adaptive filtering of underwater acoustic signals received. This method is verified by simulation of multi-source noise suppression effect, and on this basis, the design of the hardware and software of the underwater acoustic communication module, and the algorithm embedded into the control system, greatly reducing the underwater acoustic communication error bit rate.
Hydraulic winch control PLC wiring diagram and PLC program is designed, and the math model is established. Hydraulic winch speed controller and water sampler lead fish water depth positioning controller is studied and analyzed. The results show that both controllers can meet the performance requirements. The master controller software flow and human-machine interface are designed.
Laboratory test and field hydrological sampling test are both accomplished, and the test results show that the depth measurement accuracy, the effect of underwater acoustic communication, dynamic response speed may meet the design requirement.
On the basis of the above research, the dissertation achieved the following results:
(1) A new deep-water hydraulic sampling automatic closed loop control scheme is proposed in this paper.
(2) Hardware and software of underwater controller are designed to achieve a dynamic bathymetric survey; in regard to a specific water pressure sounding error, anti-jamming measures are put forward to raise dynamic water depth measurement relative error to2%or less;
(3) Hardware and software of underwater acoustic communication module are designed to achieve wireless communications between surface controller and underwater controller; Method of anti-interference of multiple multi-source is proposed to make communication success rate at about60%when the underwater distance close to200m.
(4) Software of surface controller is designed to realize automatic control of water harvesting process and to decline single vertical line six-point method sampling time to about450, which greatly improves the hydrological sampling efficiency.
The automatic control system of deep-water hydrology sampling in this dissertation has high depth measurement accuracy, long effective underwater communication distance, high automation level. Based on dynamic measurement of water depth, this system can realize the whole closed-loop control of hydrological sampling and automatic process control of single vertical line six-point method hydrological sampling. This achievement has great significance and broad application prospects in hydrological sampling for deep water.
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