温跃层剖面观测水下滑翔器控制系统设计

摘要

Based on the observation of underwater gliders multitasking thermocline profile characteristics of the parallel processing, the project in this paper uses STM32F429 which has high performance and low power consumption as the core ship in this control system, the design has realized the thermocline profile observation software and hardware integrated control system of underwater glider for autonomous operation in the process of the underwater glider diving, underwater hovering, rise and marine hydrology information acquisition and storage. And through the iridium communications thermocline profile observation of the underwater glider key remote transmission of data and control commands. Introducing quasi-step function approximation method to develop the thermocline profile observation of underwater gliders integrated control algorithm, realizing of thermocline profile independent observation of the underwater glider gliding motion control and measurement path planning.%根据温跃层剖面观测水下滑翔器多任务并行处理的特性，采用意法半导体公司的高性能、低功耗的ARM Co-tex-M4内核的STM32F429为主控芯片，移植嵌入式实时操作系统μC/OS-II，设计实现了温跃层剖面观测水下滑翔器的软硬件综合控制系统。实现了水下滑翔器自主运行过程中的下潜、水下悬停、上升以及海洋水文信息的采集与存储，并通过铱星通信实现温跃层剖面观测水下滑翔器的关键数据与控制命令的远程传输。同时，引入拟阶梯函数分析海洋温跃层参数特征，设计开发了温跃层剖面观测水下滑翔器综合控制算法，实现温跃层剖面观测水下滑翔器的自主滑翔运动控制、测量路径规划等功能。