深海剖面浮标上浮运动能耗优化及控制策略

Optimal control strategy of energy consumption for the floating motion of deep-sea section buoys

主动排油上浮过程是剖面浮标的应用中最耗能的环节之一,直接影响到剖面浮标的续航能力,本文通过对剖面浮标运动特性及其耗能原因分析,建立了剖面浮标上浮运动过程动力学模型,并基于能量转化分析,利用变分法推导了剖面浮标在给定时间、给定深度条件下所对应的最为节能的上浮速度。在此基础上设置了速度区间并提出了有效的闭环控制算法,使得浮标在上浮过程中的速度严格保持在此速度区间内,最终实现了节能和节时的兼顾。

Floating up by oil discharge is one of the most energy-consuming processes in the application of buoys,which directly affects its endurance.In this paper,Based on the analysis of the motion characteristics of section buoys and the causes of their energy consumption,the most energy-saving floating velocity of the buoy at a given time and depth is obtained through the analysis of energy conversion and the derivation of variational method by modeling the buoyancy floating motion.Based on the most energy-saving floating velocity,an effective closed-loop control algorithm is proposed to keep the buoy's floating speed strictly within this speed interval,and finally the goal of energy saving and time saving is achieved.