Subsurface buoy systems,especially equipped with the vector sensor,have more and more extensive applications in military and civilian regions.However,their acoustic performances are constrained by the vibration result...Subsurface buoy systems,especially equipped with the vector sensor,have more and more extensive applications in military and civilian regions.However,their acoustic performances are constrained by the vibration resulting from the unavoidable ocean current in some degree.The influence of such vibrations is quantitatively analyzed by means of modeling the simplified models of two deployment configurations involving the positive buoyant buoy and neutral buoy system.The corresponding formulas are deduced respectively for the deployment configuration buoy systems in the motion state firstly.Then the simulation software is developed and some numerical simulations are put up via the Runge-Kutta method.The simulation results and theoretical analysis indicate that the neutral buoy will be an excellent design protocol in engineering application in comparison with the positive buoyant buoy.展开更多
The net buoyancy of the deep-sea self-holding intelligent buoy(DSIB)will change with depth due to pressure hull deformation in the deep submergence process.The net buoyancy changes will affect the hovering performance...The net buoyancy of the deep-sea self-holding intelligent buoy(DSIB)will change with depth due to pressure hull deformation in the deep submergence process.The net buoyancy changes will affect the hovering performance of the DSIB.To make the DSIB have better resistance to the external disturbances caused by the net buoyancy and water resistance,a depth controller was designed to improve the depth positioning based on the active disturbance rejection control(ADRC).Firstly,a dynamic model was established based on the motion analysis of the DSIB.In addition,the extended state observer(ESO)and nonlinear state error feedback controller were designed based on the Lyapunov stability principle.Finally,semi-physical simulations for the depth control process were made by using the ADRC depth controller and traditional PID depth controller,respectively.The results of the semi-physical simulations indicate that the depth controller based on the ADRC can achieve the predefined depth control under the external disturbances.Compared with the traditional PID depth controller,the overshoot of the ADRC depth controller is 1.74%,and the depth error is within 0.5%.It not only has a better control capability to restrain the overshoot and shock caused by the external disturbances,but also can improve intelligence of the DSIB under the depth tracking task.展开更多
文摘Subsurface buoy systems,especially equipped with the vector sensor,have more and more extensive applications in military and civilian regions.However,their acoustic performances are constrained by the vibration resulting from the unavoidable ocean current in some degree.The influence of such vibrations is quantitatively analyzed by means of modeling the simplified models of two deployment configurations involving the positive buoyant buoy and neutral buoy system.The corresponding formulas are deduced respectively for the deployment configuration buoy systems in the motion state firstly.Then the simulation software is developed and some numerical simulations are put up via the Runge-Kutta method.The simulation results and theoretical analysis indicate that the neutral buoy will be an excellent design protocol in engineering application in comparison with the positive buoyant buoy.
基金Wenhai Program of Qingdao National Laboratory for Marine Science and Technology(No.ZR2016WH01)Tianjin Marine Economic Innovation and Development of Regional Demonstration Projects of State Oceanic Administration(No.BHSF2017-27)。
文摘The net buoyancy of the deep-sea self-holding intelligent buoy(DSIB)will change with depth due to pressure hull deformation in the deep submergence process.The net buoyancy changes will affect the hovering performance of the DSIB.To make the DSIB have better resistance to the external disturbances caused by the net buoyancy and water resistance,a depth controller was designed to improve the depth positioning based on the active disturbance rejection control(ADRC).Firstly,a dynamic model was established based on the motion analysis of the DSIB.In addition,the extended state observer(ESO)and nonlinear state error feedback controller were designed based on the Lyapunov stability principle.Finally,semi-physical simulations for the depth control process were made by using the ADRC depth controller and traditional PID depth controller,respectively.The results of the semi-physical simulations indicate that the depth controller based on the ADRC can achieve the predefined depth control under the external disturbances.Compared with the traditional PID depth controller,the overshoot of the ADRC depth controller is 1.74%,and the depth error is within 0.5%.It not only has a better control capability to restrain the overshoot and shock caused by the external disturbances,but also can improve intelligence of the DSIB under the depth tracking task.
