Research On The Depth Control For Deep Sea Intelligent Buoy Based On Fuzzy Control And Kalman Filtering

Buoys can be used for underwater observation,which can obtain temperature,salinity,depth and other related parameters such as ocean currents and sea water data.It is important to ensure the security of marine economic activities,to promote scientific research.Intelligent buoys can submerge and rise underwater autonomy to measure the ocean profile parameters in different depths of the sea area,which has great prospects.The existing depth control algorithms for buoy have the problems of low control accuracy,lacking intelligence.These algorithms are unable to filter control interference and measurement noise,and can't meet the requirements of ocean observation.In this paper,a depth control algorithm for deep sea intelligent buoy combining fuzzy control and Kalman filtering is studied to achieve high-precision depth control of profile buoy.The main work of this paper is as follows.1.This paper combines the advantages of fuzzy control and Kalman filtering,the depth control algorithm for deep sea intelligent buoy combining fuzzy control and Kalman filtering.2.The motion process for deep sea intelligent buoy is analyzed.Submergence process for deep sea intelligent buoy is analyzed dynamically.Dynamical equation is established.The effects of resistance,depth and temperature to the buoyancy of the buoy are considered respectively in modeling process.3.The fuzzy control algorithm of the depth control of the intelligent buoy is designed.The fuzzy subset of input and output variables,membership function,and fuzzy rules are determined.The Kalman filter is studied,which is combined with fuzzy controller to improve the effect of depth control4.The designed depth control method is added to the dynamic model of the intelligent buoy,and the simulation experiment is carried out.The simulation results show that the fuzzy Kalman filter algorithm can keep the depth difference between the arrival depth and the target depth within 3.8m.5.The structure experiment and buoyancy driving experiment of the deep-sea intelligent buoy are carried out to verify the stability of the buoy structure and the buoyancy driving system,to verify reliability of buoy system.