Research On Position-control Technology Of A New Fixed-point Profiler Without Mooring System

Any activities on the sea can not be separated from the security of real-time and accurate marine environment information, which must be acquired by reliable, efficient and economical ocean observation technology. The fixed-point profiler without mooring system is a new type of ocean observing equipment,floating or diving in the deep ocean through changing the drainage volume by buoyancy adjusting device like Argo buoy. The profiler will compare the satellite positioning information obtained with predetermined position automatically when surfaced. If exceeding limit value, profiler will navigate to the predetermined area correctively by automatic position-control operation during next diving, so as to realize a long-term, continuous and fixed vertical profile observation without mooring system.This paper studies the overall technology related to position-control of fixed-point profiler.The main body shape, fins and rudders of the profiler are designed; The hydrodynamic parameters in normal operating conditions of the profiler are obtained by hydrodynamic calculation and analysis, and are tested and verified by towing tank experiments; The mathematical model of vertical movement of the profiler under buoyancy driven is established, the position-control movement simulation of profiler is completed by using kinematics simulation program, and the influence rules of various control parameters on the position-control movement characteristics is analyzed. Researching on the key role of position-control movement, the buoyancy driven technology, maximum buoyancy regulation been determined and buoyancy adjusting device workflow is completed, as well as system circuit design and overall layout. Pool and lake trials show that the design, modeling and simulation of the profiler are correct and the functions are coincident with the design goals. The other technology related to position-control movement of profiler, such as control strategy, control flow and satellite positioning, can directly reference or draw on the technical achievements of underwater glider. Therefore, we will not repeat them here.