浅海起伏式拖体控制系统的研制

Shallow sea undulating towed-vehicle's control system

针对浅海起伏式拖体实时数据通讯和复杂运动控制的问题,提出了一种由甲板计算机和水下控制器构成的控制系统。水下控制器采用微处理器MCF5213为核心,通过驱动步进电机来调节前翼角度以实现拖体起伏运动;利用接口芯片SP490实现对集成传感器的数据访问;利用接口芯片SP485完成和甲板计算机的实时通讯。在甲板计算机上,采用Delphi,并结合MapX开发了可视化浅海水文测试数据导航软件。实际应用结果表明,该系统能够较好地满足起伏式拖体的工作要求。

Aiming at real-time communication and complex motion control of shallow sea undulating towed-vehicle, a set of control system which was constructed by deck computer and underwater controller was developed. A microprocessor MCF5213 was used as CPU of the underwater controller which adjusts the underwater position of tow by step motor. The interface chip SP490 was used to get the data from sensors, and the interface chip SP485 was used to provide real time communication with the deck computer. A sea survey data processing system running on the navigation computer was deve]oped by using the software development tool Delphi and programmable control MapX. The result of application indicates that the control system works very well.