用于海上油膜厚度测量的激光光强调节装置设计
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摘要
针对海上溢油油膜厚度测量浮标在实际海试过程中出现的海水浊度影响测量结果的情况,设计开发了适用于差分激光三角法油膜厚度测量的激光光强调节装置.该装置的设计指标为调节时间小于400 ms,超调量小于10%,可应用于浊度0～100 NTU的水中.首先基于单色光束在不同浊度水中传播的衰减规律,建立了差分激光三角法油膜厚度测量系统的控制模型.然后为了保证在不同浊度的海水中电荷耦合元件(CCD)接收到的光强保持稳定,提出了一种基于比例积分校正的鲁棒激光光强调节器设计方法.该方法利用根轨迹根增益与复平面上点实部、虚部的关系来选择调节器的增益,并利用积分环节使得稳态误差为零.最后进行了仿真实验和标准浊度液中的实验.仿真实验表明:在不同光强衰减率下激光光强调节装置都能使CCD接收到的光强保持稳定,且超调量、调节时间等指标都能满足设计要求.在不同标准浊度液中进行的测量实验表明,CCD成像质量较好且未随浊度改变而发生明显变化,证明了该激光光强调节装置的有效性.
Ocean turbidity has been found to affect the measurement of sea oil film thickness during the marine test of buoys. To mitigate the inaccuracy introduced by turbidity,a regulator of laser luminous intensity was developed as the light source of the instrument on the basis of the vertical incidence differential laser trigonometry. The regulator can be utilized in water of 0—100 NTU,the settling time is less than 400 ms,and the overshoot is less than 10%. A model for control system was set up by utilizing both the depression law of the spreading of the monochromatic light and the imaging principle of charge-coupled device(CCD). A proportional-integral-based robust regulator was presented to ensure that the CCD can capture a stable light energy. The gain of the robust regulator was calculated by using the relationship between the root locus gain and the real part and the imaginary part of poles on a complex plane.Meanwhile,the integral part of the regulator minimized the steady-state error to zero. A simulation and experiments in calibration turbidity standard were conducted. The simulations show that the robust regulator can stabilize the laser luminous intensity regardless of turbidity,and criteria such as overshoot and settling time meet the requirement of the measurement of sea oil film thickness. The experiments in different kinds of turbid water also show that the CCD image quality does not significantly vary with change of turbidity.
Ocean turbidity has been found to affect the measurement of sea oil film thickness during the marine test of buoys. To mitigate the inaccuracy introduced by turbidity,a regulator of laser luminous intensity was developed as the light source of the instrument on the basis of the vertical incidence differential laser trigonometry. The regulator can be utilized in water of 0—100 NTU,the settling time is less than 400 ms,and the overshoot is less than 10%. A model for control system was set up by utilizing both the depression law of the spreading of the monochromatic light and the imaging principle of charge-coupled device(CCD). A proportional-integral-based robust regulator was presented to ensure that the CCD can capture a stable light energy. The gain of the robust regulator was calculated by using the relationship between the root locus gain and the real part and the imaginary part of poles on a complex plane.Meanwhile,the integral part of the regulator minimized the steady-state error to zero. A simulation and experiments in calibration turbidity standard were conducted. The simulations show that the robust regulator can stabilize the laser luminous intensity regardless of turbidity,and criteria such as overshoot and settling time meet the requirement of the measurement of sea oil film thickness. The experiments in different kinds of turbid water also show that the CCD image quality does not significantly vary with change of turbidity.
引文
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[14]Tong Yuhuan,Siha N K.Design of controller for robots using the robust root locus of descrete time systems[C]//Proceedings of the IEEE International Symposium on Industrial Electronics.Xi’an,China,1992:78-82.
[15]Nakhmani A,Zeheb E,Lichtsinder M.Robust controller design based on generalized bode envelopes[J].IMAJournal of Mathematical Control and Information,2012,29(2):171-198.
[2]周一兵.基于沙蚕多功能群匹配的湿地微宇宙对石油烃去除效果研究[D].大连:大连海洋大学,2015.Zhou Yibing.Research on the Oil Removal Capacity of Polychaete-Microrganism-Plant Combined Bioremediation System Using Microcosm Method[D].Dalian:Dalian Ocean University,2015(in Chinese).
[3]LüQieni,Lu Lin,Ge Baozhen,et al.Differential laser trigonometry for measuring the oil film thickness on water[J].Journal of Modern Optics,2012,29(11):947-953.
[4]LüQieni,Wu Hao,Wu Di.Experimental determination of the system parameter of oil thickness measurement[C]//Proceedings of SPIE the International Society for Optical Engineering.Beijing,China,2010:7850.
[5]LüQieni,Ge Baozhen,Yao Wenda,et al.A method for measuring the thickness of transparent oil film on water surface with laser trigonometry[J].Optics and Lasers in Engineering,2011,49(1):13-15.
[6]Wu Di,LüQieni,Lu Lin,et al.Laser image spot processing for sea oil film thickness measurement[J].Optics and Lasers in Engineering,2014,61(8):676-682.
[7]Ge Baozhen,Sun Jingbin,Liu Pengcheng,et al.Designing an optical set-up of differential laser triangulation for oil film thickness measurement on water[J].Review of Scientific Instruments,2013,84:013105.
[8]耿云飞,陈曦,金文,等.海水折射率对差分激光三角法油膜厚度测量精度的影响[J].中国激光,2015,42(4):0408004.Geng Yunfei,Chen Xi,Jin Wen,et al.Influence of seawater refractive index on the precision of oil film thickness measurement by differential laser triangulation[J].Chinese Journal of Lasers,2015,42(4):0408004(in Chinese).
[9]Rodier F.Adaptive Optics in Astronomy[M].Cambridge:Cambridge University Press,1999.
[10]Barmish B R,Tempo R.The robust root locus[J].Automatica,1990,26(2):283-292.
[11]Hwang Chyi,Yang Shih-Feng.Characterization and computation of robust root loci for systems having parametric uncertainties[J].Journal of the Chinese Institute of Engineers,2011,34(5):695-710.
[12]Hwang Chyi,Yang Shih-Feng.Plotting robust root locus for polynomial families of multilinear parameter dependence based on zero inclusion/exclusion tests[J].Asian Journal of Control,2003,5(2):293-300.
[13]Kostov K,Karlova V,Todorov A.Robustroot locus application in design and analysis of typical industrial control system model[J].Cybernetics and Information Technologies,2008,8(1):25-33.
[14]Tong Yuhuan,Siha N K.Design of controller for robots using the robust root locus of descrete time systems[C]//Proceedings of the IEEE International Symposium on Industrial Electronics.Xi’an,China,1992:78-82.
[15]Nakhmani A,Zeheb E,Lichtsinder M.Robust controller design based on generalized bode envelopes[J].IMAJournal of Mathematical Control and Information,2012,29(2):171-198.
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