Control de plataforma perfiladora submarina empleando propulsores y lastres dinámicos

Résumé

The Mar Menor lagoon is one of the most important ecological singularities of the Mediterranean area. However, it is an area where many economic and industrial activities converge, so that the sum of the impacts of mining, agriculture and urban development around the lagoon during the last decades, has considerably affected the ecosystem. This situation generates the motivation for this project in order to contribute to the recovery of the Mar Menor from several points of view. One of them is to establish hydrodynamic behavior models to predict unfavorable episodes that affect the salt lagoon in order to minimize their impact. In order to develop these models, it is essential to continuously monitor at different points and depths the water parameters whose variation affects the overall behavior of the lagoon. Thus, the objective of this project arises, which focuses on the depth management of submersible sensor platforms. For this purpose, control algorithms have been developed and implemented using a microcontroller embedded in the platform itself. These algorithms manage the ascent and descent of the submersible platform by varying the weight of the platform through ballast type actuators combined with dynamic thrusters in order to stabilize the platform at a certain depth while minimizing energy consumption.