摘要
针对水下滑翔机的运动要求和结构特点,提出了一种基于STC单片机的运动控制系统设计方案,该系统通过单片机对滑翔机的运动参数进行采集,根据采集的反馈信号控制重心调节机构,改变滑翔机的运动姿态;控制重浮力调节机构,实现滑翔机的上浮和下潜,最终实现水下滑翔机的运动控制。通过对该系统的仿真和实验分析,验证了控制算法的可行性,为水下滑翔机的后续开发奠定了基础。
Aiming at the autonomous underwater glider motion demands and the structure characteristics,a scheme of motion control system is designed based on STC MCU.The system works based on motion parameters of glider collected by MCU.According to the feedback signal,it changes the attitude motion of glider based on gravity center adjustment mechanism control,and realizes floating and submergence of the glider based on gravity buoyancy adjustment mechanism control.That finally achieves the motion control of the autonomous underwater glider.The feasibility of the control algorithm is proved by the simulation and experimental analysis results.It lays a foundation for subsequent development of autonomous underwater glider.
出处
《国外电子测量技术》
2011年第10期41-45,共5页
Foreign Electronic Measurement Technology
