| In recent years, underwater gliders have been drew more and more attention in the field of ocean testing and detection. The disc-shaped underwater glider which is designed on ordinary underwater glider has more excellent characteristics in some respects, because of its unique shape design. So it will have wide prospect. The motion control system demand analysis and overall design are first designed according to its performance requirements and the motion characteristic, the general control framework of the system is established combining with the actual situation.First of all, the hardware platform of the motion control system which is the core of the embedded hardware system is further designed on the base of design requirement of system. To ensure the realization of the function of the disc-shaped underwater glider motion control system, this system adopts embedded microcontroller ARM processor series of 32-bit processor, equipped with sensor system which is composed of electronic compass, acceleration sensor, and the depth of the water pressure sensor, acting on the direct action devices which include stepper motor and micro pump.Secondly, the software design of the glider motion control system of the disc-shaped under water is completed. According to functions requirement, the software design that is based on Keil MDK-ARM is completed, such as main program, data acquisition program, communication program, PID controller, and stepper motor pulse generating program.At last, the design of motion control system are validated and tested. Each test and the pool experiment are completed. The individual test shows that all sensors meet the control precision and are working properly. The test in the pool of the whole physical prototype and subsequent analysis of data the test show that the design of the motion control system of the underwater glider can realize the control of the basic motion, the controller parameter setting is reasonable, and the design objectives have been reached. |
