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

作　　者：温福详 周赫雄 赵晓磊[3] 傅剑 姚宝恒[1,2,4] WEN Fu-xiang;ZHOU He-xiong;ZHAO Xiao-lei;FU Jianu;YAO Bao-heng(School of Oceanography,Shanghai Jiaotong University,Shanghai 200240,China;The State Key Laboratory of Ocean Engineering,Shanghai Jiaotong University,Shanghai 200240,China;Offshore Oil Engineering Co.,Ltd.,Tianjin 300452,China;Second Institute of Oceangraphy,Ministry of Nature Resources,Hangzhou 310012,China)

机构地区：[1]上海交通大学海洋学院,上海200240 [2]海洋工程国家重点实验室,上海200240 [3]海洋石油工程股份有限公司,天津300452 [4]自然资源部第二海洋研究所,浙江杭州310012

出　　处：《舰船科学技术》2022年第4期72-76,131,共6页Ship Science and Technology

基　　金：国家自然科学基金资助项目(51779142,41527901)。

摘　　要：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.

关 键 词：浮标 分段排油 节能 最优控制 变分 

分 类 号：U644.4[交通运输工程—船舶及航道工程]