Research On Related Technology Of Motorized Buoy Control System

The buoy plays an important role in marine meteorological monitoring and hydrological information collection.Unlike conventional non-motorized buoys,the motorized buoy has a propulsion device that automatically holds its position near the point of measurement for short-term measurement tasks.The motorized buoy using lithium battery-powered,and the stable and efficient control system is of great significance for improving the performance of motorized buoys and prolonging the working hours.In this paper,the control system and hardware circuit of the motorized buoy control system are designed,and the trajectory tracking technology of the motorized buoy is studied with reference to the control ideas of ordinary surface ships.The main research contents and work are as follows:First,the system architecture and hardware circuit of the control system are designed according to the working characteristics of the motorized buoy.Through the analysis of the task demand of the motorized buoy,the control task of the control system is clearly controlled.Through the study of the structure of the intelligent control system,the hierarchical control system architecture of the motorized buoy is designed.According to the equipment used by the control system,the hardware circuit of the distributed motorized supply module and the isolating control module of the propeller is designed in accordance with the idea of modular design.Secondly,the mathematical model of the motorized buoy is established by combining the shape and working characteristics of the motorized buoy.According to the motion characteristics of the motorized buoy,the mathematical model is simplified,and the decoupling longitudinal mathematical model and the three degree of freedom mathematical model of the horizontal plane are obtained.As the motorized buoy carries the cable at the bottom,the cable has an effect on the pitch angle,a separate pitch PID controller is designed.Under the condition of ensuring the total thrust of the buoy is unchanged,the pitch angle is controlled by adjusting the thrust of the upper and lower propellers.Then the pitch controller is validated through simulation experiments.Then,the method of indirect track control of the motorized buoy is studied,and the LOS(Line-of-Sight)algorithm and fuzzy control algorithm are used to design the indirect trajectory tracking controller.By comparing the method of calculating the target heading based on "line-of-sight" and the method of calculating the target heading based on the virtual target guiding distance,a method of calculating the target heading based on the distance of trajectory tracking deviation is proposed.Then the proposed method is verified by simulation.Because of the lower speed of the dynamic buoy,the influence of the flow is greater.To this end,the motorized buoy controller is further optimized,and the Bang-Bang control idea is introduced into the heading control unit to control the steering rate.Through two groups of simulation results,we can see that the designed motorized buoy controller has good control effect.Finally,tests are carried out in reservoirs to test the designed controller.The effectiveness of the control system is verified by the rotation test,the Straight-line navigation test,the straight-line track test and the regional self-locking test.According to the test results,the adjustment threshold is set for the speed control of the motorized buoy,and the speed is controlled when the speed error is greater than that of the threshold.The final test results show that the designed control system can meet the control requirements of the motorized buoy.