水下滑翔机低功耗控制系统实现

摘要

水下滑翔机是一种低噪声、长续航力的新型水下机器人,是一种有效的海洋环境测量平台.以水下滑翔机为研究对象,分析了水下滑翔机作业过程中的能耗组成,重点研究了水下滑翔机嵌入式控制系统.详细介绍了适用于水下滑翔机的低功耗控制系统的软硬件设计与实现.通过实验对水下滑翔机低功耗控制系统的有效性和稳定性进行了测试.%The underwater glider,which possesses many advantages such as low noise and long duration,is a new kind of underwater vehicle. It is a useful measurement platform for oceanic environment monitoring taking an underwater glider as research object,analyzes the components of energy consumption during operation of underwater glider,and develops an embedded control system for underwater glider. Then design and realization of the low power control system for underwater glider is introduced in detail. Finally,the stability and reliability of the control system was verified by experiments.