The Research Of The Control System Of The Underwater Glider By Electricity

The underwater glider can be served as im portant platform s for m arine environment observation and ocean resource exploration. It uses battery as the driving energy, and it has a long range of navigati on and low noise. In propeller mode, it has the high performance of speeding and mobility. In the field of marine and military, it has far-reaching applications.In this paper , based on the perform ance of underwater gliders, we designed a control system of unde rwater gliders, wh ich was adapted to the complex m arine environment. And we also optim ize the system, based on the system reliability, low power consumption and environment applicability.The main contents and results of the paper are as follows:1. According to hardw are and functiona l requirements, we designed the m ain control system of the underwater gliders. We used centralized control structure, with a new series of 32-bit ARM processor and military component. It is an efficient solution to the hardware system relia bility problem, which is wo rking long hours. W e also designed the ener gy system of underwater g liders, focusing on the analysis of the energy type that the glider carried and the power supply control mode.2. We study the control ways of the bo ttom actuating m echanism and getting a distribution contro l structure for m ulti-motor system , which ad opt Canopen communication. It effectively meet the requirement of real time, and it also saving the main control unit interface. The absolu te encoder and brake were a dded on the attitude control system. It makes the system remember its position and lock braking when power down. The buoyancy-driven system used optical opening for fuel testing. It is an effective solution to the problem of oil discharge step by step.3. Motion control used digital PID algorith m, and we designed a PID controller . At the same time we analyzed the difficulties in positioning and navigation according to the existed navigation technology.4. We tested each sensor to verify th e unit function. We also have stress testing and buoyancy loss testing for pressure hull, proving it is reasonable for oil dischar ge step by step.