Depth Control of Floating Ocean Seismograph Based on Variable Buoyancy System

This paper mainly focuses on the design of a self- adaptive fuzzy PID controller, especially for the depth control of floating ocean seismograph. This controller is based on the variable buoyancy system of floating ocean seismograph. And the buoyancy variation caused by the density of seawater changing with the depth has been taken into consideration. First of all, hydrodynamics equations are established. Combined with the variable buoyancy system, the mathematical model of floating ocean seismograph is obtained. And then, self-adaptive fuzzy PID control method is designed to do research into the depth control of floating ocean seismograph. The simulation results indicate that the proposed controller shows its superiority compared with traditional PID controller for the floating ocean seismograph.