基于拖曳系统的等温层自适应追踪研究

Research on Adaptive Tracking Isothermal Layer Based on Towed System

针对船载多参数拖曳式剖面测量系统,进行了自适应追踪等温层研究.根据拖缆和拖曳体的理论模型,利用海上拖曳试验数据优化3个重要水动力参数,构建了该拖曳系统的半分析(半解析)运动模型.依据感知-决策-执行-反馈的回路控制思路,在实测数据插值的温度场中,模拟拖曳系统运行,利用感知的温度与等温层的温度偏差,自适应给出拖曳体的期望深度;根据拖曳系统的半分析运动模型,利用PI控制算法对该期望深度进行响应,实现追踪等温层.以26.5℃等温层为例,给出了追踪数值算例.

Isothermal layer＇s adaptive tracking was studied for shipboard towed muti parameters profile sampling system. Based on the theoretical model of cable and towed body, three important hydrodynamic parameters were optimized using towed data from sea trials, and a semi analytical physical model of towed system was constructed. According to the idea of sensing deciding-acting feedback, the operation of the towed system was simulated in the field of temperature data from interpolated towed sampling. By using the difference between the sensed temperature and the isothermal layer＇s temperature, the expected depth of towed fish was adaptively decided, then it was responded by PI control law on the basis of constructed model of towed system so that the isothermal layer could be tracked. The tracking result of 26.5 ℃isothermal layer is illustrated in the numerical simulation.