\r陈 曦¹，金 文¹，邬海强²，李 颖\r³\r
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AuthorsHTML:\r陈 曦¹，金 文¹，邬海强²，李 颖\r³\r
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AuthorsListE:\rChen Xi ¹，Jin Wen ¹，Wu Haiqiang²，Li Ying\r³\r
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AuthorsHTMLE:\rChen Xi ¹，Jin Wen ¹，Wu Haiqiang²，Li Ying\r³\r
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Unit:\r\r1. 天津大学电气自动化与信息工程学院，天津 300072；\r
\r\r2. 国家海洋技术中心，天津 300112；
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\r3. 大连海事大学航海学院，大连 116026\r
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Unit_EngLish:\r1. School of Electrical and Information Engineering，Tianjin University，Tianjin 300072，China；
2. National Ocean Technology Center，Tianjin 300112，China；
3. Navigation College，Dalian Maritime University，Dalian 116026，China\r
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Abstract_Chinese:\r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.\r
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Abstract_English:\rOcean 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.\r
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Keyword_Chinese:油膜厚度测量；海水浊度；光强调节；鲁棒根轨迹\r

Keywords_English:measurement of sea oil film thickness；ocean turbidity；regulation of luminous intensity；robust root locus\r


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