CN111856967B - Semi-physical simulation system and method for self-sustaining profile buoy - Google Patents
Semi-physical simulation system and method for self-sustaining profile buoy Download PDFInfo
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Abstract
The invention provides a semi-physical simulation system and a method for a self-sustaining profile buoy, wherein the system comprises the following components: the buoy hydraulic system simulates the submergence and the floating of a buoy; the buoy master control system is used for controlling the buoy to perform profile movement; a pressure regulation system for providing a varying pressure to the buoy hydraulic system; the simulation control system is used for performing simulation experiment state control and data processing; a controller 1 for transmitting pressure regulation protocol data between the simulation control system and the pressure regulation system; the buoy main control system receives data transmitted by the buoy hydraulic system and the simulation control system. The invention can be used for carrying out laboratory simulation of the profile motion of the buoy approaching to the marine environment, carrying out constant pressure test, power consumption test, control algorithm verification and the like, and has positive effects on improving the reliability and stability of the Argo profile buoy hydraulic system and the main control system, reducing the sea test cost and optimizing the power consumption of the whole machine.
Description
Technical Field
The invention belongs to the technical field of ocean exploration, and particularly relates to a semi-physical simulation system and method for a self-sustaining profile buoy.
Background
The Argo (global ocean real-time observation network) plan is a global ocean observation test project which is proposed in 1998, and aims to quickly, accurately and widely collect sea water temperature and salinity profile data of global ocean upper layers by arranging satellite tracking buoys in global ocean so as to improve the accuracy of weather forecast and effectively defend threat caused by increasingly serious global climate disasters to human beings. By the end of month 5 of 2016, there are 3814 profile floats making up the global Argo real-time marine observational network, and the chinese Argo program has been put in 462 Argo profile floats in ocean areas such as the pacific, indian, etc., since the early 2002 organization. Currently 88 buoys are still working properly at sea.
At present, industrialization of the Argo section buoy of 1000 meters and 2000 meters is realized, but the Argo section buoy of 4000 meters is still in a successful development stage, the industrialization is not formed, the reliability and the stability of the Argo section buoy need to be further improved, but the sea test cost of the Argo section buoy is higher, and a large amount of sea tests can lead to low cost ratio for equipment research and development. During research and industrialization, the improved optimization of the equipment is carried out through the sea test result, the efficiency is low, the progress is slow, all running data of sea test are difficult to obtain, particularly, in deep sea areas, large-depth circulating profile movement is carried out, equipment is easy to lose, and cause analysis cannot be carried out through complete sea test data.
Disclosure of Invention
The invention aims to provide a semi-physical simulation system and method of a self-sustaining profile buoy, which are used for overcoming the defects of the prior art.
In order to achieve the purpose, the invention adopts the following specific technical scheme:
a semi-physical simulation system for a self-contained profile buoy, comprising:
the buoy hydraulic system causes buoyancy change by oil quantity change so as to simulate buoy submergence and floating;
the buoy master control system is used for controlling the buoy to perform profile movement;
a pressure regulating system for providing a varying pressure to the buoy hydraulic system, causing a variation in oil mass;
the simulation control system is used for performing simulation experiment state control and data processing;
a controller 1 for transmitting pressure regulation protocol data between the simulation control system and the pressure regulation system;
the buoy main control system receives data transmitted by the buoy hydraulic system and the simulation control system.
Further, the simulation control system comprises a model calculation module, a pressure tracking module, a sensor data module, a state monitoring module and a data storage module; the model calculation module is used for calculating a self-sustaining profile buoy dynamics model and outputting related data information to the pressure tracking module and the sensor data module; the data storage module is used for recording model parameters, marine environment parameters, operation parameters and the like and transmitting the data information to the model calculation module; the pressure tracking module is used for realizing pressure feedback and regulation of the pressure regulating system through the controller 1; the sensor data module is used for providing a standard CTD sensor data protocol for the buoy main control system; the state monitoring module is used for receiving buoy state and oil quantity data fed back by the buoy main control system, monitoring buoy running state and oil quantity data and transmitting data to the model calculation module.
Further, the buoy main control system feeds back the buoy operation state to the state monitoring module, and the state monitoring module automatically judges the buoy operation state, so that the simulation control system automatically switches operation stages to perform continuous profile test, and unmanned on duty of a simulation test is realized; the buoy running state comprises profile motion starting, submerging completion and floating completion; the operation stage comprises a submerging stage, a floating stage and a communication stage.
Further, the semi-physical simulation system also comprises a controller 2 for transmitting switching value control protocol data; the simulation control system comprises a switching value monitoring module; the state protocol and the control protocol are transmitted between the switching value monitoring module and the controller 2; the switching value monitoring module transmits related data to the model calculation module.
Further, the model calculation module, the data storage module, the switching value monitoring module, the pressure tracking module, the sensor data module and the state monitoring module are independently operated in a multitasking mode; the simulation control system is in data communication with the controller 1, the controller 2 and the buoy main control system in real time; the timing calculation time of the simulation system is adjusted, the simulation self-sustaining profile buoy is accelerated to operate in the ocean, the simulation test speed is accelerated, and the simulation efficiency is improved.
Further, the pressure tracking module realizes real-time pressure tracking of the pressure regulating system through PID algorithm control.
Further, through the sensor data module, the depth calculated by the model calculation module and the seawater temperature, the seawater salinity and the seawater conductivity corresponding to the depth jointly form a standard CTD sensor data protocol, so that the buoy main control system can collect real CTD sensor data.
The simulation method of the semi-physical simulation system based on the self-sustaining profile buoy comprises the following steps:
the buoy main control system feeds back the buoy running state to the state monitoring module, and when the buoy running state is that the profile motion is started, the simulation control system enters a submergence stage, and hydraulic oil of the pressure regulating system enters a buoy hydraulic system to finish submergence; when the buoy running state is that the submergence is completed, the simulation control system enters a floating stage, and hydraulic oil of a buoy hydraulic system enters a pressure regulating system to complete floating; when the buoy operation state is that the floating is completed, the simulation control system enters a communication stage; the state monitoring module automatically judges the running state of the buoy, so that the simulation control system automatically switches the running stage to perform continuous profile test, and the unattended operation of the simulation test is realized.
Further, the simulation method specifically comprises the following steps:
after the buoy main control system starts the profile movement, the running state of the buoy is switched to the profile movement starting state and is transmitted to the state monitoring module through the serial port, so that the simulation control system enters the submerging stage; the hydraulic oil of the pressure regulating system enters the buoy hydraulic system, the oil quantity of the pressure regulating system is reduced, the oil quantity value collected by the buoy main control system is reduced, and the oil quantity value is transmitted to the state monitoring module through the serial port; when the gravity of the buoy is greater than the buoyancy of the buoy, the buoy is simulated to submerge, and the depth is increased; stopping oil return when the oil quantity value is smaller than the set target oil quantity value;
the model calculation module inputs model parameters, marine environment parameters and oil mass values, and calculates and outputs operation parameters; the data storage module stores the operation parameters in real time; the depth value calculated by the model calculation module is divided by 100 to obtain a target pressure value, the pressure tracking module obtains an actual measurement pressure value of the pressure regulating system through a pressure acquisition protocol of the controller 1, the target pressure value and the actual measurement pressure value are input into a PID controller together, the PID controller outputs a current value to form a pressure control protocol, the pressure control protocol is sent to the pressure regulating system through the controller 1, the pressure of the pressure regulating system is regulated in real time, the pressure is applied to an interface between the buoy hydraulic system and the pressure regulating system, the external pressure change of the buoy hydraulic system is simulated, and the real-time pressure tracking of the pressure regulating system is realized; the depth value calculated by the model calculation module, the sea water temperature, the sea water salinity and the sea water conductivity form a standard CTD sensor data protocol through the sensor data module and are provided for a buoy main control system;
the buoy main control system analyzes a standard CTD sensor data protocol to obtain a depth value, when the buoy is submerged to the depth value equal to a set submerged target depth value, the buoy running state is completed, the buoy running state is transmitted to the state monitoring module through a serial port, and the simulation control system enters a floating stage; the hydraulic oil of the buoy hydraulic system enters the pressure regulating system, the oil quantity of the pressure regulating system is increased, the oil quantity value collected by the buoy main control system is increased, and the oil quantity value is transmitted to the state monitoring module through the serial port; when the buoyancy of the buoy is greater than the gravity of the buoy, the buoy floats upwards, and the depth is reduced; stopping oil discharge when the oil quantity value is larger than the set target oil quantity value; after the buoy main control system analyzes the standard CTD sensor data protocol, a depth value is obtained, when the depth value is equal to a set floating target depth value, the buoy running state is that floating is completed, and the simulation control system enters a communication stage.
Furthermore, the control pressure regulating system can also be controlled by the switching value monitoring module, and the switching value indication and the switching value control of the pressure regulating system are realized by the transmission state protocol and the control protocol of the controller 2, so that the pressure regulating system is controlled to enter the working state.
The invention has the advantages and beneficial effects that:
the invention provides a semi-physical simulation system and a semi-physical simulation method for a self-sustaining profile buoy based on dynamic simulation, algorithm control and automation principles, which simulate the profile motion of the buoy approaching to the marine environment in a laboratory, perform constant pressure test, power consumption test, control algorithm verification and the like, and have positive effects on improving the reliability and stability of an Argo profile buoy hydraulic system and a main control system, reducing the sea test cost and optimizing the power consumption of the whole machine.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the system of the present invention.
FIG. 2 is a block diagram of a simulation control system of the present invention.
Detailed Description
The invention is further illustrated and described below by means of specific examples in connection with the accompanying drawings.
Example 1
The embodiment provides a semi-physical simulation system of a self-sustaining profile buoy, which comprises a buoy main control system, a buoy hydraulic system, a pressure regulating system and a simulation control system, as shown in figure 1; the buoy main control system is used for controlling the buoy hydraulic system to drain and return oil, and the buoyancy change is caused by the oil quantity change of the buoy hydraulic system; when the gravity of the buoy is greater than the buoyancy of the buoy, the buoy is submerged; when the buoyancy of the buoy is greater than the gravity, the buoy floats upwards; a pressure regulation system for providing a varying pressure to the buoy hydraulic system; the controller 1 is used for transmitting a pressure regulation protocol; the controller 2 is used for transmitting a switching value control protocol; the simulation control system comprises a model calculation module, a switching value monitoring module, a pressure tracking module, a sensor data module, a state monitoring module and a data storage module.
The following describes the modules in detail, as shown in fig. 2:
the model calculation module is used for calculating a self-sustaining profile buoy dynamics model, inputting model parameters and ocean environment parameters, and obtaining various operating parameters of the buoy in the ocean in real time; the data storage module is used for recording model parameters, marine environment parameters and operation parameters, wherein the model parameters comprise gravitational acceleration, buoy quality and resistance coefficient; the marine environment parameters comprise seawater temperature and seawater density, and seawater salinity and seawater conductivity are calculated; the operating parameters include buoyancy, drag, acceleration, speed, depth.
The switching value monitoring module is used for indicating and controlling the switching value of the pressure regulating system through the controller 2; the switching value comprises a remote loading, a stop valve, an oil cooling power supply and a motor power supply.
The pressure tracking module is used for realizing pressure feedback and regulation of the pressure regulating system through the controller 1, and monitoring and regulating the pressure of the pressure regulating system in real time.
The sensor data module is used for providing a standard CTD sensor data protocol for the self-contained profile buoy.
The state monitoring module is used for monitoring the running state of the self-sustaining profile buoy and the oil quantity data, and automatically switching the running stage through the buoy running state returned by the buoy main control system; the buoy running state comprises profile motion starting, submerging completion and floating completion; the operation stage comprises a submerging stage, a floating stage and a communication stage.
The pressure tracking module is controlled by a PID algorithm to realize real-time pressure tracking of the pressure regulating system.
The buoy main control system feeds back the buoy running state to the state monitoring module, and when the buoy running state is that the profile motion is started, the simulation control system enters a submergence stage; when the buoy running state is that the submergence is completed, the simulation control system enters an upward floating stage; when the buoy operation state is that the floating is completed, the simulation control system enters a communication stage; the state monitoring module automatically judges the running state of the buoy, so that the simulation control system automatically switches the running stage to perform continuous profile test, and the unattended operation of the simulation test is realized.
The model calculation module, the data storage module, the switching value monitoring module, the pressure tracking module, the sensor data module and the state monitoring module of the simulation control system independently run in parallel in a multitasking mode, and the simulation control system performs data communication with the controller 1, the controller 2 and the buoy main control system in real time; the timing calculation time of the simulation system is adjusted, the simulation self-sustaining profile buoy is accelerated to operate in the ocean, the simulation test speed is accelerated, and the simulation efficiency is improved.
And the depth calculated by the model calculation module and the seawater temperature, the seawater salinity and the seawater conductivity corresponding to the depth jointly form a standard CTD sensor data protocol through the sensor data module, so that the buoy main control system can acquire real CTD sensor data.
Example 2
Based on the above-mentioned semi-physical simulation system for the self-sustaining profile buoy, the embodiment also provides a semi-physical simulation method:
the switching value monitoring module is used for realizing the switching value indication and the switching value control of the pressure regulating system through a state protocol and a control protocol transmitted by the controller 2; the switching value comprises a remote loading, a stop valve, an oil cooling power supply and a motor power supply; firstly, powering up a pressure regulating system, starting an oil cooling power supply, and enabling hydraulic oil of the pressure regulating system to dissipate heat; secondly, remote loading is opened, so that the pressure regulating system loads pressure; then, a stop valve is opened to enable the pressure regulating system to be communicated with an oil way of the buoy hydraulic system; and finally, a motor power supply is turned on and tracking is started, so that the pressure regulating system automatically tracks the target pressure value of the buoy hydraulic system, and the pressure regulating system enters a working state.
After the buoy main control system starts the profile movement, the running state of the buoy is switched to the profile movement starting state and is transmitted to the state feedback module through the serial port, so that the simulation control system enters the submerging stage; when oil is returned, hydraulic oil of the pressure regulating system enters the buoy hydraulic system, the oil quantity of the pressure regulating system is reduced, the oil quantity value is transmitted to the state feedback module through the serial port, and the oil quantity value collected by the buoy main control system is reduced; when the gravity of the buoy is greater than the buoyancy of the buoy, the buoy submerges, and the depth is increased; and stopping oil return when the oil quantity value is smaller than the set target oil quantity value.
The model calculation module inputs model parameters, marine environment parameters and oil mass values, and calculates and outputs operation parameters; the data storage module stores the operation parameters in real time; model parameters include gravitational acceleration, buoy mass, and drag coefficient; the marine environment parameters comprise seawater temperature and seawater density, and seawater salinity and seawater conductivity are calculated; the operating parameters include buoyancy, drag, acceleration, speed, depth.
The depth value calculated by the model calculation module is divided by 100 to obtain a target pressure value, the pressure tracking module obtains an actual measurement pressure value of the pressure regulating system through a pressure acquisition protocol of the controller 1, the target pressure value and the actual measurement pressure value are input into a PID controller together, the PID controller outputs a current value to form a pressure control protocol, the current value is sent to the pressure regulating system through the controller 1 to regulate the pressure of the pressure regulating system in real time, the pressure is applied to an interface between the buoy hydraulic system and the pressure regulating system, the external pressure change of the buoy hydraulic system is simulated, and the real-time pressure tracking of the pressure regulating system is realized.
The depth value calculated by the model calculation module, the seawater temperature, the seawater salinity and the seawater conductivity are formed into a standard CTD sensor data protocol in real time through the sensor data module and provided for a buoy main control system, and the format is as follows: t% 8.4f p% 8.3f c% 7.4f s% 7.4f\r\n (t is temperature, p is depth, c is conductivity, s is salinity).
The buoy main control system analyzes a standard CTD sensor data protocol to obtain a depth value, when the buoy is submerged to the depth value equal to a set submerged target depth value, the buoy running state is completed, the buoy running state is transmitted to the state feedback module through a serial port, and the simulation control system enters an upward floating stage; when oil is discharged, hydraulic oil of the buoy hydraulic system enters the pressure regulating system, the oil quantity of the pressure regulating system is increased, the oil quantity value collected by the buoy main control system is increased, and the oil quantity value is transmitted to the state feedback module through the serial port; when the buoyancy of the buoy is greater than the gravity of the buoy, the buoy floats upwards, and the depth is reduced; stopping oil discharge when the oil quantity value is larger than the set target oil quantity value; after the buoy main control system analyzes the standard CTD sensor data protocol, a depth value is obtained, when the buoy floats up to the depth value equal to the set floating target depth value, the buoy running state is that the floating is completed, and the simulation control system enters a communication stage.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be apparent to one skilled in the art that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalents may be substituted for some of the technical features thereof; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (4)
1. A semi-physical simulation system for a self-contained profile buoy, the system comprising:
the buoy hydraulic system causes buoyancy change by oil quantity change so as to simulate buoy submergence and floating;
the buoy master control system is used for controlling the buoy to perform profile movement;
a pressure regulating system for providing a varying pressure to the buoy hydraulic system, causing a variation in oil mass;
the simulation control system is used for performing simulation experiment state control and data processing;
a controller 1 for transmitting pressure regulation protocol data between the simulation control system and the pressure regulation system;
the buoy main control system receives data transmitted by the buoy hydraulic system and the simulation control system;
the simulation control system comprises a model calculation module, a pressure tracking module, a sensor data module, a state monitoring module and a data storage module; the model calculation module is used for calculating a self-sustaining profile buoy dynamics model and outputting related data information to the pressure tracking module and the sensor data module; the data storage module is used for recording model parameters, marine environment parameters and operation parameters and transmitting the data information to the model calculation module; the pressure tracking module is used for realizing pressure feedback and regulation of the pressure regulating system through the controller 1; the sensor data module is used for providing a standard CTD sensor data protocol for the buoy main control system; the state monitoring module is used for receiving buoy state and oil quantity data fed back by the buoy main control system, monitoring buoy operation state and oil quantity data and transmitting data to the model calculation module;
the buoy main control system feeds back the buoy operation state to the state monitoring module, and the state monitoring module automatically judges the buoy operation state, so that the simulation control system automatically switches operation stages to perform continuous profile test, and unattended operation of a simulation test is realized; the buoy running state comprises profile motion starting, submerging completion and floating completion; the operation stage comprises a submerging stage, an upward floating stage and a communication stage; the semi-physical simulation system also comprises a controller 2 for transmitting switching value control protocol data; the simulation control system comprises a switching value monitoring module; the state protocol and the control protocol are transmitted between the switching value monitoring module and the controller 2; the switching value monitoring module transmits related data to the model calculation module; the model calculation module, the data storage module, the switching value monitoring module, the sensor data module and the state monitoring module are independently operated in a multitasking mode; the simulation control system is in data communication with the controller 1, the controller 2 and the buoy main control system in real time; the pressure tracking module is controlled by a PID algorithm to realize real-time pressure tracking of the pressure regulating system; and the depth calculated by the model calculation module and the seawater temperature, the seawater salinity and the seawater conductivity corresponding to the depth jointly form a standard CTD sensor data protocol through the sensor data module, so that the buoy main control system can acquire real CTD sensor data.
2. The simulation method of a simulation system according to claim 1, wherein the method is:
the buoy main control system feeds back the buoy running state to the state monitoring module, and when the buoy running state is that the profile motion is started, the simulation control system enters a submergence stage, and hydraulic oil of the pressure regulating system enters a buoy hydraulic system to finish submergence; when the buoy running state is that the submergence is completed, the simulation control system enters a floating stage, and hydraulic oil of a buoy hydraulic system enters a pressure regulating system to complete floating; when the buoy operation state is that the floating is completed, the simulation control system enters a communication stage; the state monitoring module automatically judges the running state of the buoy, so that the simulation control system automatically switches the running stage to perform continuous profile test, and the unattended operation of the simulation test is realized.
3. The simulation method according to claim 2, wherein the simulation method specifically comprises:
after the buoy main control system starts the profile movement, the running state of the buoy is switched to the profile movement starting state and is transmitted to the state monitoring module through the serial port, so that the simulation control system enters the submerging stage; the hydraulic oil of the pressure regulating system enters the buoy hydraulic system, the oil quantity of the pressure regulating system is reduced, the oil quantity value collected by the buoy main control system is reduced, and the oil quantity value is transmitted to the state monitoring module through the serial port; when the gravity of the buoy is greater than the buoyancy of the buoy, the buoy is simulated to submerge, and the depth is increased; stopping oil return when the oil quantity value is smaller than the set target oil quantity value;
the model calculation module inputs model parameters, marine environment parameters and oil mass values, and calculates and outputs operation parameters; the data storage module stores the operation parameters in real time; the depth value calculated by the model calculation module is divided by 100 to obtain a target pressure value, the pressure tracking module obtains an actual measurement pressure value of the pressure regulating system through a pressure acquisition protocol of the controller 1, the target pressure value and the actual measurement pressure value are input into a PID controller together, the PID controller outputs a current value to form a pressure control protocol, the pressure control protocol is sent to the pressure regulating system through the controller 1, the pressure of the pressure regulating system is regulated in real time, the pressure is applied to an interface between the buoy hydraulic system and the pressure regulating system, the external pressure change of the buoy hydraulic system is simulated, and the real-time pressure tracking of the pressure regulating system is realized; the depth value calculated by the model calculation module, the sea water temperature, the sea water salinity and the sea water conductivity form a standard CTD sensor data protocol through the sensor data module and are provided for a buoy main control system;
the buoy main control system analyzes a standard CTD sensor data protocol to obtain a depth value, when the buoy is submerged to the depth value equal to a set submerged target depth value, the buoy running state is completed, the buoy running state is transmitted to the state monitoring module through a serial port, and the simulation control system enters a floating stage; the hydraulic oil of the buoy hydraulic system enters the pressure regulating system, the oil quantity of the pressure regulating system is increased, the oil quantity value collected by the buoy main control system is increased, and the oil quantity value is transmitted to the state monitoring module through the serial port; when the buoyancy of the buoy is greater than the gravity of the buoy, the buoy floats upwards, and the depth is reduced; stopping oil discharge when the oil quantity value is larger than the set target oil quantity value; after the buoy main control system analyzes the standard CTD sensor data protocol, a depth value is obtained, when the depth value is equal to a set floating target depth value, the buoy running state is that floating is completed, and the simulation control system enters a communication stage.
4. A simulation method according to claim 3, wherein the control pressure regulating system is further controlled by the switching value monitoring module, and the switching value indication and the switching value control of the pressure regulating system are realized by the transmission state protocol and the control protocol of the controller 2, so that the pressure regulating system is controlled to enter the working state.
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