Attitude Control Of Energy-efficient Self-marine Environment Monitoring System

An under-water environmental monitoring system was investigated in this thesis. Multiple methods, such as system's configuration, stress analysis and simulation we used to test the system. The result indicated that the developed environmental monitoring system had many new feature and function more efficiently.The stability of measurement platform under water is very important for the normal operation of system. To address this issue, we did comprehensive analysis of the external forces and its posture in water. In fact, it is difficult to establish a model of the submersible buoy because of its complicated status and randomness. In order to get better state control method, PID combine with fuzzy control theory are used in calculation and evaluation process. The fussy control theory has several advantages, it could go without accurate model of controlled objects and it had strong adaptability to parameter variation at the same time.In order to polish the under-water monitoring system, a series of optimizations were conducted based on the fuzzy control principle. Firstly, referred the characters of fuzzy control principle and traditional PID control system, the simple fuzzy control system was laid out. The simple fuzzy control system is easy to design and convenient for application. Secondly, we optimized the control system for better performance. Thirdly, the Fuzzy-PI control system combined the advantages of both fuzzy control system and PI control system was designed. The new under-water environmental monitoring system has better self-tuning and self-adaptive ability after these optimizations. The robustness and real-time control ability of the system were also improved.In the final part of the thesis, the simulation curve to confirm the controller functions meet the requirements was tagged.