沉浮式养殖网箱自动化控制与管理系统研究  

Study of automatic control and management system forsinking and floating aquaculture cages

作　　者：张世中 张天时[1] 王兴兴 袁世家 杨波 赵磊 ZHANG Shizhong;ZHANG Tianshi;WANG Xingxing;YUAN Shijia;YANG Bo;ZHAO Lei(Yellow Sea Fisheries Research Institute,Chinese Academy of Fishery Sciences,Qingdao 266071,Shandong,China;Qingdao Haixing Smart Equipment Limited Company,Qingdao 266200,Shandong,China;Sanya Yazhou Bay Agriculture and Fisheries Development Limited company,Sanya 572000,Hainan,China)

机构地区：[1]中国水产科学研究院黄海水产研究所,山东青岛266071 [2]青岛海兴智能装备有限公司,山东青岛266200 [3]三亚崖州湾农渔业发展有限公司,海南三亚572000

出　　处：《渔业现代化》2023年第6期33-40,共8页Fishery Modernization

基　　金：海南省重点研发项目(ZDYF2022GXJS347);国家重点研发计划重点专项项目(2022YFF1000300)。

摘　　要：针对沉浮式养殖网箱沉浮时易造成网箱倾角过大和侧翻等问题,研究开发了沉浮式养殖网箱自动化控制与管理系统。该系统主要基于PID控制技术,探究PID控制系统合适的参数,利用倾斜角度信号和控制算法来调节执行器,实现网箱倾斜角度的自动控制;研发了沉浮式养殖网箱自动化控制相应的管理系统,主要功能包括:浮沉控制、饲喂控制、清洗网箱、GPS定位和摄像头清洗,以及水下摄像头监控、水质、流速、液位和压力等数据监测等。经过浮重比、沉浮时间、PID控制试验,结果显示:适宜的网箱浮重比为1.2,浮筒进水口管径和直径比为0.03,P、I、D参数值分别为100、1000、0,并将沉浮式养殖网箱的各个模块的控制和信息集成到了一套系统中,全面改善了沉浮式养殖网箱自动化控制系统的性能。本系统能够及时且稳定地进行控制输出,实现网箱平稳下沉和上浮,本研究成果具有一定的理论和实践意义。Aiming at the problem that the inclination angle is too large and easy to roll over when the sinking and floating aquaculture cages are sinking and floating.In this study,an automatic control and management system for sinking and floating aquaculture cages has been developed.The automatic control system of sinking and floating aquaculture cages is mainly based on PID control technology.To realize automatic control of the inclination angle of cages,the appropriate parameters of the PID control system which uses the inclination angle signal and control algorithm to adjust the actuator,are explored.The corresponding management system for automatic control of sinking and floating aquaculture cages has been developed.The main functions include:floating and sinking control,cage cleaning,GPS positioning,and camera cleaning,as well as underwater camera monitoring,water quality,flow rate,liquid level and pressure data monitoring,etc.After a series of experiments such as the buoyancy-gravity ratio of the cage,the water inlet diameter and diameter ratio of the adjusting buoy,the PID control,the suitable value of the buoyancy-gravity ratio of the cage is 1.2,the water inlet diameter and diameter ratio of the adjusting buoy is 0.03.The PID parameters are P:100,I:1000,and D:0.In this study,the control and information of each module of the sinking and floating aquaculture cages were integrated into a set of system,which improved the performance of the automatic control system of the deep-sea aquaculture cages.The system can control the output in a timely and stable manner and achieve the stable sinking and floating of the aquaculture cages.The results of the research have certain theoretical and practical meaning.The automatic control system of deep-sea sinking and floating aquaculture cages is one of the important technical means to achieve the industrialization development of deep-sea aquaculture.The research methods and experimental results proposed in this paper provide important data reference and theoretical basis for the

关 键 词：沉浮式养殖网箱 自动化控制 管理系统 PID控制 

分 类 号：S969[农业科学—水产养殖]