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Design and Depth Control of a Buoyancy-Driven Profiling Float
This paper presents the design and fabrication of a profiling float primarily used for thermocline observations and tracking, with an emphasis on depth control performance. The proposed float consists of a frame-type electronic chamber and a variable buoyancy system (VBS) actuator chamber. Component...
Autores principales: | , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2022
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9003073/ https://www.ncbi.nlm.nih.gov/pubmed/35408122 http://dx.doi.org/10.3390/s22072505 |
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author | Bai, Yulin Hu, Rui Bi, Yuanbo Liu, Chunhu Zeng, Zheng Lian, Lian |
author_facet | Bai, Yulin Hu, Rui Bi, Yuanbo Liu, Chunhu Zeng, Zheng Lian, Lian |
author_sort | Bai, Yulin |
collection | PubMed |
description | This paper presents the design and fabrication of a profiling float primarily used for thermocline observations and tracking, with an emphasis on depth control performance. The proposed float consists of a frame-type electronic chamber and a variable buoyancy system (VBS) actuator chamber. Components or sensors can be added or removed according to specific requirements. All components were off the shelf, which lowered the cost of the float. In addition, a segment PD control method is introduced. Simulink results showed that there was no need to change any parameter when carrying out tasks at different depths. This method is superior to the traditional PD control and sliding mode control (SMC). In the process of diving, the speed could be well controlled to less than 0.2 m/s. We completed depth determination and control method validation in Qiandao Lake. The final results were consistent with the simulation results, and the maximum depth retention error was less than 0.3 m. Field tests also demonstrated that the prototype float can be used for thermocline observations in the upper layer of seawater or lake water. |
format | Online Article Text |
id | pubmed-9003073 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2022 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-90030732022-04-13 Design and Depth Control of a Buoyancy-Driven Profiling Float Bai, Yulin Hu, Rui Bi, Yuanbo Liu, Chunhu Zeng, Zheng Lian, Lian Sensors (Basel) Article This paper presents the design and fabrication of a profiling float primarily used for thermocline observations and tracking, with an emphasis on depth control performance. The proposed float consists of a frame-type electronic chamber and a variable buoyancy system (VBS) actuator chamber. Components or sensors can be added or removed according to specific requirements. All components were off the shelf, which lowered the cost of the float. In addition, a segment PD control method is introduced. Simulink results showed that there was no need to change any parameter when carrying out tasks at different depths. This method is superior to the traditional PD control and sliding mode control (SMC). In the process of diving, the speed could be well controlled to less than 0.2 m/s. We completed depth determination and control method validation in Qiandao Lake. The final results were consistent with the simulation results, and the maximum depth retention error was less than 0.3 m. Field tests also demonstrated that the prototype float can be used for thermocline observations in the upper layer of seawater or lake water. MDPI 2022-03-25 /pmc/articles/PMC9003073/ /pubmed/35408122 http://dx.doi.org/10.3390/s22072505 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Bai, Yulin Hu, Rui Bi, Yuanbo Liu, Chunhu Zeng, Zheng Lian, Lian Design and Depth Control of a Buoyancy-Driven Profiling Float |
title | Design and Depth Control of a Buoyancy-Driven Profiling Float |
title_full | Design and Depth Control of a Buoyancy-Driven Profiling Float |
title_fullStr | Design and Depth Control of a Buoyancy-Driven Profiling Float |
title_full_unstemmed | Design and Depth Control of a Buoyancy-Driven Profiling Float |
title_short | Design and Depth Control of a Buoyancy-Driven Profiling Float |
title_sort | design and depth control of a buoyancy-driven profiling float |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9003073/ https://www.ncbi.nlm.nih.gov/pubmed/35408122 http://dx.doi.org/10.3390/s22072505 |
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