无磁浮力调节式水下实验平台升沉运动控制设计  

Design of the control of lifting and sinking motion of a non-magnetic buoyancy-regulated underwater experimental platform

作　　者：曾雨昊 向冰 刘彪 余祖耀[1] ZENG Yuhao;XIANG Bing;LIU Biao;YU Zuyao(School of Naval Architecture&Ocean Engineering,Huazhong University of Science and Technology,Wuhan 430070,China;Wuhan Marine Communication Institute,Wuhan 430025,China)

机构地区：[1]华中科技大学船舶与海洋工程学院,湖北武汉430070 [2]中船重工第七二二研究所,湖北武汉430025

出　　处：《哈尔滨工程大学学报》2023年第1期125-130,160,共7页Journal of Harbin Engineering University

基　　金：国家重大专项(2016ZX05038-004-LH001)。

摘　　要：针对部分对磁场干扰要求较高的海洋探测需求,本文设计了一种无磁浮力调节式水下实验平台。该平台结构采用无磁材料,并以高压气囊作为浮力调节装置来实现升沉控制。其浮力调节系统气囊体积小、调节精度高,且控制逻辑简单可靠。本文阐述了水下实验平台的工作原理及关键技术,基于刚体动力学方法及经典控制理论,建立了系统物理模型和控制器模型,结合Matlab/Simulink对控制过程进行仿真分析,并开展海洋试验验证。结果表明:无磁浮力调节式水下实验平台可实现4‰体积浮力调节,且控制算法稳定收敛,能够实现快速响应及6.6%深度精度控制,适用于所需求的工作环境,为浮力调节式水下实验平台的进一步研究提供了理论基础。An adjustable underwater experimental platform without magnetic levitation force is designed to meet some requirements of ocean exploration with high magnetic field interference. The platform comprises non-magnetic materials, and the high-pressure air bag is used as the buoyancy control device to realize the heave control. The airbag of the buoyancy control system is small in size, with high-precision adjustment and simple and reliable control logic. The working principle and key technologies of the underwater experimental platform are described in this paper. Based on the rigid body dynamics method and classical control theory, the physical and controller models of the system were established, the control process was simulated and analyzed by Matlab/Simulink, and the marine experiment was conducted for verification. Results show that the adjustable underwater experimental platform without magnetic levitation force can achieve a volume buoyancy control of 4‰, and the control algorithm is stable and convergent, achieving a rapid response and 6.6% depth precision control. This platform is suitable for the required working environment and provides a theoretical basis for further research on buoyancy control of underwater experimental platforms.

关 键 词：浮力 气动 动力学模型 运动控制 控制系统 无磁 PD控制 海洋工程 

分 类 号：TH137[机械工程—机械制造及自动化]