A feedback self-checking underwater glider attitude adjustment device and control method

Abstract

The invention discloses a feedback self-check type underwater glider posture adjustment device and a control method. The adjustment device comprises a master control module, a drive module, a posture detecting module, position switches and stepping motors. Position limiting points are arranged on movement positions of the posture detecting module and provided with the position switches correspondingly. The master control module comprises a master controller, a clock circuit, a program downloading circuit, a power circuit and a communication switching circuit, wherein the clock circuit, the program downloading circuit, the power circuit and the communication switching circuit are connected to the master controller. The drive module is connected with the master control module. According to the feedback self-check type underwater glider posture adjustment device and the control method, limit feedback is increased by fixing the position points, the position of a slide block can be determined forcibly at each time of action, the movement direction of the slide block is determined accordingly, and movement disorder caused by the fact that the position of the slide block is recorded through the quantity of state is avoided; and mechanical transmission jamming, poor motor startup and the like can be prevented through the position self-check technology and the overtime alarming technology, and the reliability of a system is improved.

Description

technical field [0001] The invention relates to an attitude adjustment technology of an underwater vehicle, in particular to a feedback self-inspection type underwater glider attitude adjustment device and a control method. Background technique [0002] With the continuous development of marine monitoring equipment technology, underwater glider, as a low-power, long-life underwater unmanned monitoring equipment, is also developing continuously. [0003] The attitude adjustment device of the underwater glider is to change the center of gravity of the underwater glider by moving the position of the weight, thereby changing the attitude, and then controlling the running course and communication attitude of the underwater glider. [0004] In the prior art, the design of the control system of the underwater glider attitude adjustment device generally adopts a centralized control architecture, that is, all control signals and feedback signals come from a central computer, which ha...

AI Technical Summary

Problems solved by technology

But for the underwater glider, its attitude adjustment system is far away from the central computer, the transmission of the long-distance control pulse signal will be easily disturbed, and the pulse loss will occur, which is not conducive to precise control. At the same time, feedback detection, control, etc. The tasks are handed over to the central computer to complete, which is not conducive to improving the real-time performance of the host computer

[0005] In the prior art, some control systems are built based on the bus and use a driver with a communication mode in the program. The disadvantage of this technology is that the power consumption is relatively large, and the host has less understanding of the operation of the device, which is not conducive to improving the system. reliability

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