摘要： 针对沉浮式养殖网箱沉浮时易造成网箱倾角过大和侧翻等问题，本研究开发了沉浮式养殖网箱自动化控制与管理系统。该系统主要基于PID控制技术，探究PID控制系统合适的参数，利用倾斜角度信号和控制算法来调节执行器，实现网箱倾斜角度的自动控制；研发了沉浮式养殖网箱自动化控制相应的管理系统，主要功能包括：浮沉控制、饲喂控制、清洗网箱、GPS定位和摄像头清洗，以及水下摄像头监控、水质、流速、液位和压力等数据监测等。经过浮重比、沉浮时间、PID控制试验，结果显示：适宜的网箱浮重比为1.2，浮筒进水口管径和直径比为0.03，P、I、D参数值分别为100、1000、0，并将沉浮式养殖网箱的各个模块的控制和信息集成到了一套系统中，全面改善了沉浮式养殖网箱自动化控制系统的性能。本系统能够及时且稳定的进行控制输出，实现网箱平稳下沉和上浮，本研究成果具有一定的理论和实践意义。

关键词: 沉浮式养殖网箱, 自动化控制, 管理系统, PID控制

Abstract:  Aiming at the problem that the inclination angle is too large and easy to roll over when the sinking and floating aquaculture cages is sinking and floating. In this study, an automatic control and management system for sinking and floating aquaculture cages was developed. The automatic control system of sinking and floating aquaculture cages is mainly based on PID control technology. In order to realize automatic control of the inclination angle of cages, and the appropriate parameters of the PID control system are explored, which uses inclination angle signal and control algorithm to adjust the actuator. The corresponding management system for automatic control of sinking and floating aquaculture cages was developed. The main functions include: floating and sinking control, feeding control, cleaning cage, GPS positioning and camera cleaning, as well as underwater camera monitoring, water quality, flow rate, liquid level and pressure data monitoring, etc. After a series of experiments such as the buoyancy-gravity ratio of the cage, the water inlet diameter and diameter ratio of the adjusting buoy, the PID control, the suitable values of the buoyancy-gravity ratio of the cage is 1.2, the water inlet diameter and diameter ratio of the adjusting buoy is 0.03, and the PID parameters are P:100, I:1000, D:0. In this study, the control and information of each module of the sinking and floating aquaculture cages were integrated into a set of system, which improved the performance of the automatic control system of the deep-sea aquaculture cages. The system can control the output in a timely and stable manner, and achieve the stable sinking and floating of the aquaculture cages. The results of the research have certain theoretical and practical meaning. The automatic control system of deep-sea sinking and floating aquaculture cages is one of the important technical means to achieve the industrialization development of deep-sea aquaculture. The research methods and experimental results proposed in this paper provide important data reference and theoretical basis for the research and application of deep-sea sinking and floating aquaculture cages. 

Key words: sinking and floating aquaculture cages, automatic control, management system, PID control