水下滑翔机运动控制系统研制

发布时间：2018-11-05 07:06

【摘要】：水下滑翔机是一种将浮标技术与水下机器人技术相结合、通过改变自身净浮力作为驱动力，自身重心位置改变作为方向舵的新型水下机器人系统。本文首先简要介绍了国内外水下滑翔器的发展情况，并阐述了课题的来源及研究意义，然后介绍了水下滑翔机的结构、工作原理及各单元模块结构设计。在此基础上，本文对水下滑翔机运动控制系统进行了设计和研究。首先根据滑翔机控制要求选择了MTI姿态传感器、KELLER压力传感器等，设计并制作硬件电路，分主控电路及底层驱动电路，主控芯片采用ARM系列32位处理器，保证控制系统硬件长时间工作的可靠性。设计底层驱动电路，满足滑翔机各模块间的通信及控制要求。同时设计TF文件系统，记录滑翔机运动控制过程的数据，为进一步对滑翔机软硬件优化提供数据支持。姿态调节机构通过电位器采集重心移动的位置与距离，有效的控制了滑翔机的俯仰及旋转，浮力驱动根据气压变化测量推算滑翔机净浮力的变化，，有效的控制了滑翔机的上浮下潜。根据两机构的协调，实现了滑翔机的剖面滑翔运动。根据滑翔机的工作原理及剖面滑翔流程设计了水下滑翔机软件，主要包括两部分：岸系统软件和滑翔机载体软件。滑翔机载体软件设计分为检测板程序设计和控制板程序设计两部分。检测板主要完成铱星通信、观测类传感器的数据获取、主从通信以及文件系统。控制板主要完成主从通信、控制类传感器的数据获取、任务行为决策与执行以及文件系统。岸站系统软件通过LabVIEW编写铱星岸站系统，主要完成人机接口的设计、铱星通信和文件系统。最后，本文介绍水下滑翔机经过水槽试验，测试姿态调节机构、浮力驱动机构等各机构的可行性，滑翔机在水库、千岛湖、南海北部进行了剖面滑翔试验。验证了滑翔机的硬件电路及软件控制的合理性。
[Abstract]:Underwater glider is a new type of underwater vehicle system, which combines buoy technology with underwater vehicle technology. By changing its own net buoyancy as driving force and changing its center of gravity as rudder, underwater glider is a new type of underwater vehicle system. In this paper, the development of underwater glider at home and abroad is briefly introduced, and the origin and significance of the research are described. Then, the structure, working principle and structural design of each unit module of underwater glider are introduced. On this basis, the motion control system of underwater glider is designed and studied. Firstly, MTI attitude sensor and KELLER pressure sensor are selected according to glider control requirements. The hardware circuit is designed and fabricated, which is divided into main control circuit and bottom drive circuit. The main control chip adopts ARM series 32-bit processor. Ensure the reliability of the control system hardware working for a long time. The bottom drive circuit is designed to meet the communication and control requirements of glider modules. At the same time, TF file system is designed to record the data of glider motion control process, which provides data support for further optimization of glider software and hardware. The attitude adjusting mechanism collects the position and distance of the center of gravity movement through the potentiometer, which effectively controls the pitch and rotation of the glider, and the buoyancy driver calculates the change of the glider's net buoyancy according to the measurement of the pressure change. Effectively control the glider up and down. According to the coordination of the two institutions, the glider profile gliding motion is realized. According to the working principle of glider and section gliding flow, the software of underwater glider is designed, which includes two parts: shore system software and glider carrier software. The software design of glider carrier is divided into two parts: test board program design and control board program design. Iridium communication, data acquisition of observation sensors, master-slave communication and file system are mainly completed. The control board mainly completes the master-slave communication, the control class sensor data acquisition, the task behavior decision and the execution as well as the file system. Iridium station system is programmed by software of shore station system through LabVIEW, which mainly completes the design of man-machine interface, Iridium communication and file system. Finally, this paper introduces the feasibility of underwater glider through flume test, attitude adjusting mechanism, buoyancy driving mechanism and so on. The glider has carried out the profile gliding test in reservoir, Qiandao Lake and the northern part of South China Sea. The rationality of the hardware circuit and software control of the glider is verified.
【学位授予单位】：中国海洋大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U674.941

【共引文献】