Research Of The Attitude-adjusting System Of The Underwater Glider Powered By Electricity

The underwater glider is a new robotic system, embodying the technologies of floats and underwater vehicles, propelled by the buoyancy of itself. Additionally, it has part of functions of floats and subsurface floats. Underwater glider is characteristic of low cost of manufacturing and maintaining, reuse, convenience of putting into circulation and reclaiming, good range ability. Therefore the prospects for its application are magnificent. The research of gliders has aroused general interest in the international research field.At first, the paper introduces the development of the overseas and domestic researches of underwater glider, and then presents the background and significance of the project. Afterwards, the configuration of the control system for the underwater glider is described synoptically.Secondly, some common types of control algorithm of underwater vehicles are expounded, among which numerical PID control algorithm is finally adopted as the motion control algorithm of the attitude-adjusting system. And with it, the PID controller is designed. To fulfill the function of the attitude-adjusting, the application of TCM3 3-axis Compass is very important, so this paper illustrates it in detail. In addition, the components of the attitude-adjusting system also include P87C591 Single-chip 8-bit microcontroller from PHILIPS Corporation, as the processor of the system and RE 26 18W graphite brushes servo motor from MAXON Corporation, as the implemental motor of the system. As to software, different modules are designed for different functions according to the requirement of attitude-adjusting system, such as the information reception of glider's attitude, data processing, PID control and I2C communication, etc. Every module provides service by interface function.At last, in order to validate the correctness and reliability of the function of control system, hardware-software-combined debugging experiment has been made on the basis of the experiments of motor debugging and data collecting with TCM3, and then the analysis of accuracy and response of attitude-adjusting control system has been done. According to the result of the analysis, the fulfillment of the function of attitude-adjusting can be achieved correctly and reliably and its accuracy and response can satisfy the design requirements.