A deep-sea culture gravity net cage pumping and filling water lifting control method
A lifting control and gravity-type technology, which is applied in the field of pumping and filling lifting control of gravity-type cages in deep sea aquaculture, can solve the problems of unbalanced lifting of deep-water cages and failure to maintain the balance of deep-water cages, etc.
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[0044] The present invention will be further described below with reference to the accompanying drawings and embodiments.
[0045] Please refer to figure 1 , The present invention provides a deep-sea aquaculture gravity net cage pumping water lifting control method, comprising the following steps:
[0046] Step S1: evenly set 4 buoys on the perimeter side of gravity cage, each buoy is provided with 2 submersible pumps, 1 is to carry out pumping, and 1 is to carry out water injection;
[0047] Step S2: set up the lifting motion equation of cage according to the principle of physics;
[0048] Step S3: based on the lifting motion equation, solve the controller with the analysis method of Lyapunov function stability, for controlling the buoy pumping or water injection, and further controlling the lifting of the gravity cage.
[0049] In this embodiment, the step S2 is specifically:
[0050] Step S21: establish the dynamic equation of the submersible pump:
[0051]
[0052] ...
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