CN117590739A - Automatic control system and operation method for deepwater culture floating net cage - Google Patents
Automatic control system and operation method for deepwater culture floating net cage Download PDFInfo
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- G—PHYSICS
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Abstract
The invention relates to an automatic control system of a deepwater culture floating net cage and an operation method thereof, belonging to the field of aquaculture equipment, wherein the system comprises a PID control system, an angle induction sensor, a frame, a net, a fixed buoy, an air charging and discharging buoy, a heavy object, a surrounding cable and a connecting rope, wherein the net is fixed on the frame, the surrounding cable is arranged around the frame and is connected with the frame through the connecting rope, the fixed buoy and the air charging and discharging buoy are symmetrically fixed at the upper end of the frame, a heavy object is fixed at the right center of the bottom of the frame, the heavy object is not allowed to move in the vertical direction and the horizontal direction in a connecting mode between the heavy object and the frame, the angle induction sensor is arranged on the frame, the PID parameters are P:100, I:1000 and D:0, the floating weight ratio of the whole net cage is 1.20, the air charging and discharging buoy is provided with a water inlet and a water outlet, and an air outlet, and the ratio of the diameter of the water inlet and the floating barrel is 0.033. The invention realizes stable ascending or descending of the net cage, does not incline or topple at a large angle, and can hover at any water layer.
Description
Technical Field
The invention belongs to the field of aquaculture equipment, and particularly relates to an automatic control system and an operation method of a deepwater aquaculture floating net cage.
Background
The world deep water culture net cage technology has been developed for more than 40 years, and has important research value and development potential. Thus, many scholars have been added to the study of deep water cage technology and have made great progress. The research content of deep water cage culture mainly comprises cage industrialization research, cage culture equipment research, culture technology, ecological research and the like. In the aspect of the research of net cage culture equipment, the method mainly comprises a physical model experiment, a numerical simulation, a field prototype experiment and the like.
The scholars at home and abroad have conducted extensive research on the lifting system of the deepwater net cage. Wherein Sheming (principle of a lifting type wind and wave resistant deepwater net cage inflation system and parameter calculation, fishery modernization (02) (2002) 29-31.) researches the lifting principle of the deepwater wind and wave resistant net cage, designs an inflation system, and verifies the feasibility of the design of the net cage through experiments. Huang Liu et al (research on maximum inclination angle of HDPE circular lifting cage sinking, university of ocean (Nature science edition) (06) (2006) 953-958.) used model experiment and geometric analysis method, studied the relation between maximum inclination angle of circular lifting cage sinking in still water and system parameters. Huang Bin (research on domestic HDPE lifting deep water net cage sinking key technology, and development 30 (05) (2009) -107 of fishery science) performs a sinking and floating test on the offshore operation net cage, finds out factors influencing the net cage sinking performance, and provides a solution. Liu Yongli et al (research on cage lifting technology, modern fishery information 25 (05) (2010) -22.) propose a lifting cage and test its lifting stability by marine tests. Zhang Wei (automated control research of liftable cage, zhejiang ocean college, 2014) integrates a hydraulic system, labview upper computer monitoring and PLC control technology, constructs a lifting cage culture device, and realizes intelligent lifting and transferring of the cage. Tae Ho Kim et al (Automatic submerging and surfacing performances of model submersible fish cage system operated by air control, aquacultural Engineering (2011) 74-86.) developed an air-controlled semi-rigid cage automatic heave system and tested its heave performance by experiment. Daisuke Kitazawa et al (Model Testing ofaFish-Cage flow/Submersion System Using Flexible Hoses, ASME 201130th International Conference on Ocean,Offshore and Arctic Engineering,2011,211-218.) propose a submersible net Cage which was filled inside a floating frame with flexible hoses to examine its sinking and floating stability under water flow conditions.
In the prior art, the traditional experimental research of the lifting movement of the sinkable and floatable net cage is that the net cage floating frame adopts a double-floating-tube structure, but because the inner space of the floating tube is larger, water in the floating tube is easy to be unevenly distributed in the earlier stage of sinking of water injection, so that the sinking dip angle of the net cage is overlarge or incomplete sinking, and even the risk of overturning is possible. In the early stage of the cage floating through the drainage, the water body in the floating pipe is easy to be unevenly distributed, and the phenomenon of incomplete floating of the cage can be caused. Under the condition of water flow or wave disturbance, an initial inclination angle exists before water injection or drainage of the floating frame, so that the gravity center of water in the floating frame is in an inclined state, unbalance of the stress of the floating frame is aggravated, and the net cage is easy to overturn.
Disclosure of Invention
The invention provides an automatic control system and an operation method for a deepwater culture floating net cage, aiming at the technical problems, wherein the system can realize stable ascending or descending or hovering of the net cage on any water layer by further improving the net cage structure, PID control parameters, sinking-floating ratio and the like.
The invention is realized by the following technical scheme:
the automatic control system comprises a PID control system, an angle induction sensor, a frame, a netting, a fixed buoy, an inflation/deflation buoy, a heavy object, a surrounding cable and a connecting rope, wherein the netting is fixed on the frame, the surrounding cable is arranged around the frame and connected with the frame through the connecting rope, the fixed buoy and the inflation/deflation buoy are symmetrically fixed at the upper end of the frame, the heavy object is fixed at the right center of the bottom of the frame, the heavy object is not allowed to move in the vertical direction and the horizontal direction in a connecting mode between the heavy object and the frame, the angle induction sensor is arranged on the frame, the PID parameters are P:100, I:1000 and D:0, the floating weight ratio of the whole system is 1.20, the inflation/deflation buoy is provided with an inlet and a drainage outlet, and the ratio of the diameter of the inlet and the drainage outlet to the diameter of the inflation/deflation buoy is 0.033.
Further, the lower part of the upper end of the inflating and deflating pontoon is provided with a water inlet and outlet, the water inlet and outlet also has a water outlet function, and the upper part of the other end of the water inlet and outlet is provided with an inflating and deflating opening and also has an inflating and deflating function.
Further, a liquid level sensor is arranged on the frame and used for sensing the water depth, and the liquid level sensor is in signal connection with the PID control system.
Further, the system also comprises a device for controlling the net cage to sink and float, and the device comprises: the intelligent air charging and discharging device comprises an inclination angle sensor, a liquid level sensor, a PID control center, an air charging and discharging pontoon, an air charging and discharging pipeline, an electric proportional valve, a two-way valve 9 and an air charging device, wherein the upper part of one end of the air charging and discharging pontoon is an air charging and discharging port, the lower part of the other end of the air charging and discharging pontoon is an air charging and discharging port, one end of the air charging and discharging pipeline is connected with the air charging and discharging port, the other end of the air charging and discharging pipeline is connected with the air charging device, the electric proportional valve and the two-way valve are connected in the middle, and the inclination angle sensor, the liquid level sensor, the electric proportional valve and the two-way valve are all in signal connection with the PID control center and are adjusted by the PID control center.
The invention also provides an operation method of the system, wherein the enclosing cable is arranged at a certain depth below the water surface, anchors are fixed on the periphery of the enclosing cable, a floating ball is connected to the upper surface of the enclosing cable, so that the enclosing cable is fixed on a specific water layer, the net cage frame is connected to the enclosing cable through a connecting rope, when the air charging and discharging pontoon is not charged with water, the whole net cage system floats on the water surface, the enclosing cable is fixed at a certain depth under water, and the connecting rope is tensioned; when water is injected into the inflation and deflation pontoon under the control of the PID control system, the air in the inflation and deflation pontoon is discharged, the gravity of the whole system is increased, when the gravity is greater than the buoyancy, the net cage is submerged under the water, the gravity center position of the system is unchanged due to the fact that the weight is fixed at the bottom of the frame, meanwhile, under the action of the enclosing cable, a large inclined angle cannot appear in the net cage sinking process, and when the net cage is lowered to a certain depth below the enclosing cable, the connecting rope is tensioned, and the net cage is not lowered any more;
when gas is injected into the inflation and deflation pontoon, and water in the inflation and deflation pontoon is discharged under the pressure of the gas, at the moment, the gravity is reduced, the whole net cage gradually floats upwards, when a certain water layer needs to be hovered, the water layer needing to be parked is achieved through a liquid level sensor arranged on the frame, the inflation and deflation pontoon is alternately inflated and filled with water, when the gravity is slightly larger than the buoyancy, the inflation and drainage are carried out, then the buoyancy is slightly larger than the gravity, the water is fed and discharged, and the net cage is reciprocated to be in a dynamic suspension state;
when the system is required to be lifted to the water surface, the air inflation is continued, the water inflow is stopped, the difference between the buoyancy and the gravity is increased continuously, and the system is lifted to the water surface.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the proportion of each parameter of the net cage system is further improved, so that the net cage is stably lifted or lowered, and as a weight accounting for 20% -40% of the total weight of the system is arranged at the bottom of the frame, the gravity center of the system is not deviated even if the net cage system is impacted by ocean currents in the lifting or lowering process, so that large-angle inclination or overturning can not occur, and hovering can be carried out on any water layer.
Drawings
FIG. 1 is a control principle of a PID control system;
FIG. 2 is a schematic diagram of the water inlet and outlet control principle of the control inflation and deflation pontoon;
FIG. 3 is a top view of the cage structure;
FIG. 4 is a front view of the cage as a whole;
1. the device comprises a frame, an inflation and deflation pontoon, a fixed pontoon, an angle sensing sensor, a weight, a surrounding cable, a connecting rope, an electrical proportional valve, a two-way valve, an inflation device and an inflation device, wherein the frame, the inflation and deflation pontoon, the fixed pontoon, the angle sensing sensor, the weight and the angle sensing sensor are respectively arranged in sequence, the angle sensing sensor is arranged in sequence, the weight is arranged in sequence, the surrounding cable is arranged in sequence, the connecting rope is arranged in sequence, the electrical proportional valve is arranged in sequence, the two-way valve is arranged in sequence, and the inflation device is arranged in sequence.
Detailed Description
The technical scheme of the present invention is further explained by examples below, but the scope of the present invention is not limited in any way by the examples.
Example 1 frame pendant design
The net cage frame is designed into a square frame, the upper end of the frame is symmetrically provided with a fixed pontoon and an inflation and deflation pontoon, and no weight is arranged below the frame. The structure is stable, and the net can be well supported to prevent deformation. However, in the research process, the frame can keep stable at the earlier stage of water inflow of the air charging and discharging pontoon, when the frame is sunk, water is injected into the air charging and discharging pontoon, when the integral floating weight ratio of the frame is equal to 1, the inclination angle of the frame slightly appears, water in the air charging and discharging pontoon flows to one side, the gravity center of the frame centrifugally moves at the moment, positive feedback is formed, overturning is caused immediately, and the intervention control of the PID control system is not helpful at the moment. In this regard, the structure of the frame is subjected to a force analysis, leading to the conclusion: the shifting of the centre of gravity of the frame should be reduced or avoided when it is tilted.
Through researches, a fixed weight is added under the frame, so that the gravity center of the frame can be always kept under the middle of the frame when the frame is inclined, the weight ratio of the weight to the weight of the frame is 30%, and the problem that the frame turns over when the floating weight ratio is 1 is solved.
Example 2 parameter setting of PID control System
In the PID control system, the PID algorithm is a core part of the whole control system, and PID control is formed according to deviation between a given value r (t) and an actual output value y (t): e (t) =r (t) -y (t). The controlled object is controlled by linearly combining the ratio (P), integral (I), and derivative (D) of the deviation to constitute a control amount, as shown in fig. 1.
The control rule is as follows:
let the input function of a system be E (t) and the output function be U (t), then the quotient of the Lawster transform U(s) of U (t) and the Lawster transform E(s) of E (t): g(s) =u (s)/E(s) is called the transfer function of this system, specifically:
wherein K is p Is a proportionality coefficient, T i Is an integral time constant, T d Is a differential time constant; k (K) i ＝K p /T i Is an integral coefficient; k (K) d ＝K p *T d Is a differential coefficient, and t is time.
The functions of the parts are as follows:
the proportion links are as follows: the deviation signal e (t) of the control system is reflected in real time in proportion, and once the deviation is generated, the controller immediately generates control action to reduce the error. When the deviation e=0, the control action is also 0. Thus, the proportional control is adjusted based on the deviation, i.e., there is a differential adjustment.
And (3) integrating: can memorize errors, is mainly used for eliminating static difference and improving the no-difference degree of a system, and the intensity of the integral action depends on an integral time constant T i ，T i The larger the integration, the weaker the integration and vice versa.
And (3) a differentiation link: the method can reflect the change trend (change rate) of the deviation signal, and can introduce an effective early correction signal into the system before the deviation signal value becomes too large, thereby accelerating the action speed of the system and reducing the adjustment time.
From the time point of view, the proportional action is to control the current error of the system, the integral action is to the history of the system error, and the differential action reflects the change trend of the system error, and the combination of the three is the perfect combination of the past, the present and the future.
The proportional (P), integral (I) and derivative (D) parameters are the cores of PID control, and when the parameters of the PID controller are set, the parameters of the controller can be adjusted by using an experimental method according to the qualitative relation between the parameters of the controller and the dynamic performance and steady-state performance of the system.
To reduce the parameters that need to be set, a PID controller may first be employed. In order to ensure the safety of the system, relatively conservative parameters, such as a proportion coefficient, are not too large and an integration time is not too small, are set at the beginning of debugging so as to avoid abnormal situations of unstable system or excessive overshoot. Given a step given signal, information about system performance, such as overshoot and settling time, can be obtained from the output waveform of the controlled quantity. The PID parameters should be iteratively adjusted according to the relationship between the PID parameters and the system performance.
If the overshoot of the step response is too large, the step response can be stabilized or not stabilized at all after a plurality of oscillations, and the proportional coefficient should be reduced and the integration time should be increased. If the step response does not overshoot, but the controlled amount rises too slowly, the transition time is too long and the parameters should be adjusted in the opposite direction. If the error removal rate is slow, the integration time can be reduced appropriately, and the integration effect can be enhanced.
The tilt sensor used in the experiment was a dual-axis (X, Y axis) sensor, and the angle sensor was placed to one corner of the frame, as shown in fig. 3, so that the valves of the four float barrels could be individually controlled to control the tilt angle of the frame within the target value.
According to PID control principle and parameter setting rule, multiple parallel experiments and orthogonal experiments are performed, different effects are generated when the control frame floats under different parameters, and the three parameters P, I, D are not linearly related, but have a mutual influence relationship. For example, increasing the P parameter increases the response speed of the system, but may result in a decrease in the stability of the system, at which time the stability may be improved by increasing the D parameter; increasing the I parameter may eliminate steady state errors of the system, but may cause the system to overshoot and oscillate, which may be reduced by decreasing the P and D parameters. Table 1 shows experimental data for parameter adjustment, and the amounts of "+" and "-" are used to indicate the degree of influence of parameters on the control effect. In the table "\" indicates that the automated control system is not functioning; in the table "-" indicates that the automated control system is active but the cage is overturned (tilt angle 90 ° or more); in the table "+" indicates that the automated control system is active but a large tilt angle (45-90 (°); in the table "++" indicates that the automated control system is active but that a certain tilt angle (15 to 45 (°); "+ in table" is indicated by automatic control system start acting and having a small tilt angle (within 15 °).
Table 1P, I parameter tuning experimental data
When the P value is 0, the response speed of the system is too slow, and the system deviation (deviation between the actual inclination value and the target value) is not corrected quickly, so that the system adjustment process is very slow, and the stability is poor; as the P value increases, the system response becomes too fast, and oscillation occurs, that is, the control amount fluctuates around the target value and cannot converge to the target value. Too low an I value may result in a failure to completely eliminate the static error of the system, resulting in a failure of the control system to reach the desired steady state condition, and too high an I value may result in an extended response time of the system, since the integration action requires a certain time of accumulated error to react to the system.
Finally, parameters P is 100, I is 1000, D is 0, under the parameters, the factors such as the floating weight ratio, the pipe diameter of the air charging and discharging port, the pipe diameter of the water inlet and outlet and the like of the frame are changed within a reasonable range, and the stable ascending and descending of the net cage frame can be realized.
Example 3 specific gravity test
After PID parameters are determined, a determination experiment of a floating weight ratio is carried out, wherein the buoyancy refers to the buoyancy of the whole system in a water body, and the gravity refers to the weight of the whole system, namely all weights of the air charging and discharging pontoons without water inflow. The floating weight ratio is respectively set to be a maximum value of 1.40 and a minimum value of 1.05 by changing the volumes of the fixed air charging and discharging floating barrel and the fixed floating barrel, and when the floating weight ratio is the maximum value, the frame cannot sink completely after the air charging and discharging floating barrel is fully charged with water; at the minimum value, the air-filling and air-discharging floating barrel is regulated to enter a small amount of water frame to start sinking. Based on the two values, the gradient change between the two values is adopted, experiments are carried out, the optimal floating weight ratio is finally determined to be 1.2, and under the ratio, after the frame is completely submerged below the water surface, part of air still remains in the air charging and discharging floating barrel, and the adjustment can be continuously carried out, so that the PID control system still has a margin for intervening adjustment after the net cage is submerged below the water surface if larger waves are inclined in actual production.
EXAMPLE 4 sink-float time experiment
Because the principle of sinking and floating of the net cage is different, the time required by sinking and floating is also different in influencing factors. The sinking time is influenced by the ratio of the pipe diameter of the water inlet and outlet and the diameter of the air charging and discharging floating barrel, and the floating time is controlled by the position of the valve core of the electric proportional valve, so that the ventilation flow of the electric proportional valve can be regulated according to the requirement, and no experiment is needed. The sinking time was then tested.
In the sinking experiment, in order to study the influence of the pipe diameter of the water inlet and outlet and the diameter of the float on the sinking time and the posture of the net cage, a gradient experiment is designed, firstly, the values of the pipe diameter of the water inlet and outlet and the diameter of the float are determined, the values are uniformly arranged to form a plurality of experimental conditions, the experiment is carried out, the influence degree of the two factors on the performance of the net cage can be evaluated by comparing the observed values under different experimental conditions, and the optimal value combination is determined. Table 2 is experimental data:
TABLE 2 sinking test data
Analyzing the data, wherein too fast water inflow and too fast water sinking can be caused by too large ratio of the pipe diameter of the water inlet and the water outlet to the diameter of the floating barrel, and the PID control system cannot be timely involved in adjustment and has a very small adjusting effect; too small proportion can lead to too slow water inflow speed, and has good balance effect, but too long sinking time, and can not meet production requirements, the optimal ratio of the two is 0.033, and the sinking time of the ratio is proper and has good balance control effect.
Example 5 hover experiments
In theory, the cage can hover when the floating weight ratio is 1, but in experiments, when the floating weight ratio is 1, the cage can not keep still even in still water, and in actual production, the environment of a deep sea area is complex and changeable, so that the hovering purpose can not be achieved by the method.
Through discussion and experiments, the purpose of hovering is achieved by adopting a method of combining floating and sinking control, and meanwhile, any water body height hovering is achieved by matching with a liquid level sensor. Specifically, when gas is injected into the inflation and deflation pontoon, water in the inflation and deflation pontoon is discharged, at the moment, buoyancy is increased, the whole net cage floats up gradually, when a certain water layer needs to be hovered, the inflation and deflation pontoon is inflated or filled alternately through a liquid level sensor arranged on the frame when the water layer needing to be parked is reached, gravity is slightly larger than buoyancy, inflation and drainage are carried out, buoyancy is slightly larger than gravity, water inlet and exhaust are carried out, and the net cage is in a suspended state in a reciprocating manner.
Example 6
Through a series of experiments, a weight is added on the basis of the original frame so that the gravity center of the weight does not move greatly, all experimental results are summarized, the optimal PID parameters are determined to be P100, I1000 and D0, the floating weight ratio is 1.20, the ratio of the pipe diameter of the water inlet and outlet to the diameter of the floating barrel is 0.033, and a proper hovering scheme is designed, so that the performance of the automatic control system of the deep water aquaculture net cage is comprehensively improved.
The automatic control system for the deepwater cultivation floating net cage is shown in figures 3-4, and comprises a PID control system, an angle induction sensor 4, a frame 1, a netting, a fixed buoy 3, an inflation/deflation buoy 2, a surrounding cable 6, a weight and a connecting rope 7, wherein the netting is fixed on the frame 1, the surrounding cable 6 is arranged around the frame 1 and is connected with the frame 1 through the connecting rope 7, the fixed buoy 3 and the inflation/deflation buoy 2 are symmetrically fixed at the upper end of the frame 1, the weight is fixed at the center of the bottom of the frame 1, the weight is not allowed to move in the vertical direction and the horizontal direction in a connecting mode between the weight and the frame 1, the angle induction sensor 4 is arranged at the center of the frame 1, PID parameters are P100, I1000 and D0, the floating weight ratio of the whole system is 1.20, and the ratio of the pipe diameter of a water inlet and a water outlet to the diameter of a floating barrel is 0.033. The upper part of the other end of the air charging and discharging pontoon 2 is provided with an air charging and discharging port, and the air charging and discharging port is arranged on the upper part of the other end of the air charging and discharging pontoon. The frame 1 is provided with a liquid level sensor for sensing the water depth, and after the system reaches a required water layer, the inflation and deflation of the inflation and deflation pontoon 2 are regulated by regulating the PID control system, so that the system is in a dynamic suspension state.
As a preferred embodiment, the angle sensing sensor 4 is disposed at a corner of the square frame 1 and horizontally disposed.
As a preferred embodiment, the frame 1 is provided with a liquid level sensor for sensing the water depth, and the liquid level sensor is in signal connection with a PID control system. Specifically, the water depth signal of the liquid level sensor can be transmitted to the PID control system, and after the PID control system receives the depth signal, the PID control system starts to adjust the inflation and deflation, so that the system is in a dynamic suspension state.
As a further preferable implementation mode, in order to solve the problem that the inclination angle of the culture net cage is overlarge or overturned easily when the culture net cage sinks and floats upwards, a set of device for controlling the sinking and floating of the net cage by utilizing the electric proportional valve and the two-way valve is designed based on a PID control system. The device mainly comprises: the air charging system comprises an inclination angle sensor, a liquid level sensor, a PID control center, an air charging and discharging pontoon, an air charging and discharging pipeline, an electric proportional valve 8, a two-way valve 9, an air charging device 10 and the like, wherein the air charging device 10 comprises an air compressor, a diesel engine and the like. The whole air path should be provided with elements such as a safety valve, a one-way valve, a pressure regulating valve, a deflation valve, an air storage valve, a pressure gauge, a high-pressure hose and the like so as to ensure the safe and reliable work of the air inlet and outlet system. The automated control system design is shown in fig. 2. The upper part of one end of the inflation/deflation pontoon is provided with an inflation/deflation port, the lower part of the other end of the inflation/deflation pontoon is provided with an air inlet/deflation port, one end of the inflation/deflation pipeline is connected with the inflation/deflation port, the other end of the inflation/deflation pipeline is connected with an inflation device 10, the middle of the inflation/deflation pontoon is connected with an electric proportional valve 8 and a two-way valve 9, and the inclination sensor, the liquid level sensor, the electric proportional valve 8 and the two-way valve 9 are all in signal connection with a PID control center and are adjusted by the PID control center.
As shown in fig. 2, each regulating buoy is provided with an electrical proportional valve 8 for regulating the inlet pressure of the buoy to act as a control for the inlet flow, and each buoy is provided with a two-way valve 9 for closing and opening the outlet valve of the buoy. When sinking operation is needed, compressed air in the pontoon is discharged through the two-way valve 9, so that seawater enters through the water inlet and outlet, and the gravity of the net cage is increased. When the floating is needed, the inflation device 10 inflates the inflation and deflation pontoon through the electric proportional valve 8, so that the seawater is discharged through the water inlet and outlet, and the gravity of the net cage is reduced.
As an embodiment, the frame is of square mesh box frame (length 20m, width 20 m) consisting of double buoyancy tubes, the length of the enclosure cable 6 being 4 x 60m, allowing the frame to be raised and lowered by 5 meters with the enclosure cable 6 as an axial plane.
As one embodiment, the total weight of the frame and netting and other accessories, etc. is 2035kg and the buoyancy of the overall system is 2442kg.
As one implementation mode, the number of the fixed pontoons 3 is 8, two opposite parallel frame sides are respectively and symmetrically and uniformly arranged 3, the other one is symmetrically arranged on four sides of the upper end of the frame, the number of the inflatable pontoons is 4, and the two are respectively and symmetrically arranged on the frame sides of only one fixed pontoon 3.
The running mode of the system is that the enclosing cable 6 is arranged at a depth of 5 meters below the water surface, the upper floating ball is connected to the upper surface of the peripheral fixed upper anchor, the frame is connected to four corners of the enclosing cable 6 through the connecting ropes 7, the length of each connecting rope 7 is 29.5m, when the air charging and discharging floating pontoon is not charged with water, the whole net cage system floats on the water surface, the enclosing cable 6 is fixed at 5 meters under water, the connecting ropes 7 are tensioned, when the PID control system is used for controlling the air charging and discharging floating pontoon and water is injected into the whole system, when the gravity is larger than the buoyancy, the net cage is sunk into the water, because the gravity of the fixed weight at the bottom of the frame is unchanged, a large inclination angle cannot appear in the net cage sinking process under the action of the enclosing cable 6, when the net cage is lowered to 10 meters under the water, at the moment, the connecting ropes 7 are tensioned, and the net cage is not lowered any more;
when gas is injected into the inflation and deflation pontoon, water in the inflation and deflation pontoon is discharged, at the moment, buoyancy is larger than gravity, the whole net cage floats upwards gradually, when a certain water layer needs to be hovered, the water depth is sensed by a liquid level sensor, the inflation and deflation of the inflation and deflation pontoon is regulated by a PID control system, at the moment, the gravity is slightly larger than the buoyancy, the inflation and deflation pontoon is inflated and discharged, then the buoyancy is slightly larger than the gravity, the inflation and deflation pontoon is inflated and discharged, and the reciprocating operation is performed, so that the inflation and deflation pontoon is in a suspension state;
when the system is required to rise to the water surface, the inflation and deflation pontoon is continuously inflated, water inflow is stopped, the difference between buoyancy and gravity is continuously increased, and the system rises to the water surface.
Claims (5)
1. The automatic control system for the deepwater cultivation floating net cage is characterized by comprising a PID control system, an angle induction sensor, a frame, a net, a fixed buoy, an inflation and deflation buoy, a weight, a surrounding cable and a connecting rope, wherein the net is fixed on the frame, the surrounding cable is arranged around the frame and connected with the frame through the connecting rope, the fixed buoy and the inflation and deflation buoy are symmetrically fixed at the upper end of the frame, the weight is fixed at the right center of the bottom of the frame, the weight is not allowed to move in the vertical direction and the horizontal direction in a connecting mode between the weight and the frame, the angle induction sensor is arranged on the frame, the PID parameters are P:100, I:1000 and D:0, the floating weight ratio of the whole system is 1.20, the inflation and deflation buoy is provided with an air inlet and a water outlet, and the ratio of the diameter of the water inlet and the water outlet to the diameter of a floating barrel is 0.033.
2. The automatic control system of the deepwater culture floating net cage according to claim 1, wherein the upper part and the lower part of one end of the inflation and deflation pontoon are provided with water inlet and outlet functions, and the upper part of the other end of the water inlet and outlet is provided with an inflation and deflation port and an inflation function.
3. The automatic control system of the deepwater culture floating net cage according to claim 1, wherein a liquid level sensor is arranged on the frame and used for sensing the water depth, and the liquid level sensor is in signal connection with a PID control system.
4. The automated control system for a deepwater farming and floating net cage of claim 1, further comprising means for controlling the net cage to float, the means comprising: the intelligent air charging and discharging device comprises an inclination angle sensor, a liquid level sensor, a PID control center, an air charging and discharging pontoon, an air charging and discharging pipeline, an electric proportional valve, a two-way valve and an air charging device, wherein the upper part of one end of the air charging and discharging pontoon is an air charging and discharging port, the lower part of the other end of the air charging and discharging pontoon is an air charging and discharging port, one end of the air charging and discharging pipeline is connected with the air charging and discharging port, the other end of the air charging and discharging pipeline is connected with the air charging device, the electric proportional valve and the two-way valve are connected in the middle, and the inclination angle sensor, the liquid level sensor, the electric proportional valve and the two-way valve are all in signal connection with the PID control center and are adjusted by the PID control center.
5. The method of operating a system according to any one of claims 1-4, wherein the enclosure is positioned at a depth below the water surface, anchors are fixed around the enclosure, floating balls are connected to the enclosure to fix the enclosure to a specific water layer, the net cage frame is connected to the enclosure through connecting ropes, when the inflatable pontoon is not inflated with water, the entire net cage system floats on the water surface, the enclosure is fixed at a depth below the water, and the connecting ropes are tensioned; when water is injected into the inflation and deflation pontoon under the control of the PID control system, the air in the inflation and deflation pontoon is discharged, the gravity of the whole system is increased, when the gravity is greater than the buoyancy, the net cage is submerged under the water, the gravity center position of the system is unchanged due to the fact that the weight is fixed at the bottom of the frame, meanwhile, under the action of the enclosing cable, a large inclined angle cannot appear in the net cage sinking process, and when the net cage is lowered to a certain depth below the enclosing cable, the connecting rope is tensioned, and the net cage is not lowered any more;
when gas is injected into the inflation and deflation pontoon, and water in the inflation and deflation pontoon is discharged under the pressure of the gas, at the moment, the buoyancy is larger than the gravity, the whole net cage gradually floats upwards, when a certain water layer needs to be hovered, the water layer needing to be parked is achieved through a liquid level sensor arranged on the frame, the inflation and deflation pontoon is alternately inflated and filled with water, when the gravity is slightly larger than the buoyancy, the inflation and drainage are carried out, then the buoyancy is slightly larger than the gravity, the water is fed and discharged, and the net cage is in a dynamic suspension state by reciprocating;
when the system is required to be lifted to the water surface, the air inflation is continued, the water inflow is stopped, the difference between the buoyancy and the gravity is increased continuously, and the system is lifted to the water surface.
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