摘要
为提高小型水下航行器的操控性与机动性,设计了可应用于水下航行器的重心调节机构,利用该机构可实现对航行器俯仰角的控制.系统选用了51系列单片机和L298集成控制电路,对步进电机进行控制,并带动高精度滚珠丝杠驱动重物块来改变航行器重心位置.通过仿真实验验证了机构在调节航行器俯仰姿态中的可靠性和准确性.
To improve the controllability and mobility of small underwater vehicle,designs a kind of barycenter adjusting mechanism which can be applied to control the craft＇s pitch angle.This system chooses the 89S51 single-chip microprocessor and L298 integrated control circuit to drive the stepper motor which promotes the high-precision ball screw and its counterweight to change the craft＇s barycenter,and ultimately control the craft＇s pitching angle.Simulation results show that the barycenter adjusting mechanism is reliable and accurate.
出处
《机械与电子》
2011年第5期6-8,51,共4页
Machinery & Electronics
基金
西北工业大学"211工程"三期重点学科建设项目(09XE0108)
关键词
小型水下航行器
重心调节
俯仰角
仿真
small underwater vehicle
barycenter adjustment
pitching angle
simulation
