一种新型无缆定点剖面仪控位技术研究

发布时间：2018-07-08 08:08

本文选题：海洋环境观测 + 定点剖面观测　；参考：《中国舰船研究院》2016年硕士论文

【摘要】：海上任何活动都离不开实时准确的海洋环境信息保障,而海洋环境信息的获取必须依靠可靠、高效、经济的海洋观测技术,无缆定点剖面仪就是一种新型的海洋观测装备,它除了可以像Argo浮标一样通过调节浮力改变排水体积实现在深海大洋中上浮或下潜外,还能够在浮出水面时,根据获得的卫星定位信息与预定位置比较,如若超出限定值,则在下一次下潜过程中自动进行控位操作,以使无缆剖面仪向预定区域航行修正,从而实现不依靠缆绳系留,自主地固定在特定海域进行长期、连续、定点垂直剖面观测。本文主要研究与无缆定点剖面仪控位相关的总体技术。设计了剖面仪的主体外形和鳍舵;进行流体动力计算分析,得到了剖面仪常用工况下的各流体动力参数并通过拖曳水池试验进行验证;建立了剖面仪在浮力驱动下竖直运动的数学模型,利用运动学仿真程序完成了剖面仪控位运动的仿真计算,分析各控制参数对剖面仪控位运动特性的影响规律;针对对剖面仪控位运动起关键作用的浮力驱动技术展开研究,确定了最大浮力调节量、完成了浮力调节装置工作流程、系统回路设计和总体布置;结合剖面仪湖上试验,验证了剖面仪设计、建模、仿真的正确性和功能实现的有效性。而与无缆剖面仪控位运动有关的控制策略、控制流程、卫星定位等,可以直接引用或借鉴水下滑翔机的技术成果,本文在此不再赘述。
[Abstract]:Any activity at sea can not be separated from the guarantee of real-time and accurate marine environmental information, and the acquisition of marine environmental information must depend on reliable, efficient and economical ocean observation technology. The cable-free fixed-point profiler is a new type of marine observation equipment. In addition to being able to float or dive in the deep ocean by adjusting buoyancy and changing the volume of drainage, like the Argo buoy, it can also be compared with a predetermined position on the basis of available satellite positioning information when surfacing, if the limit is exceeded. Then the position control operation is carried out automatically in the next submersible process, so that the cable-less profiler can navigate to the predetermined area, so as to realize the long-term, continuous, fixed-point vertical section observation without relying on the cable mooring and fixing independently in the specific sea area. This paper mainly studies the overall technology related to the position control of the cable-free fixed-point profiler. The main body shape and fin rudder of the profiler are designed, the hydrodynamic parameters of the profiler under common working conditions are obtained and verified by towing tank test. The mathematical model of vertical motion of profiler driven by buoyancy is established. The simulation calculation of the control motion of profiler is completed by using kinematics simulation program, and the influence of control parameters on the motion characteristics of profiler is analyzed. Aiming at the research on the buoyancy driving technology which plays a key role in the control of the profiler motion, the maximum buoyancy regulation quantity is determined, and the work flow of the buoyancy regulating device, the system loop design and the general arrangement are completed, and the experiment on the lake of the profiler is carried out. The correctness of the design, modeling and simulation of the profiler and the validity of the function realization are verified. However, the control strategy, control flow, satellite positioning and so on related to the position control motion of the non-cable profiler can be directly cited or used for reference from the technical achievements of the underwater glider, which will not be discussed in this paper.
【学位授予单位】：中国舰船研究院
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：P715

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