基于无线通信的水下航模控制系统研究与实现

Research and Realization for the Control System of the Underwater Vehicle Based on Wireless Communication

针对高频电磁波在空气-水界面处存在剧烈反射,以及在水中传播时衰减迅速等问题,提出以507 kHz中波为载波信号,实现陆基控制平台与水下航模的无线电通信.该系统以MSP430单片机为控制核心,采用HT6221编码技术实现陆基控制平台的按键编码,经过OPA561放大后由L型天线发射输出;采用CD9088专用调频电路,实现水下航模的无线电信号解码,经过单片机处理后,将直流电机控制信号通过红外光波通信方式发送给水面传动单元;水面传动单元采用PID算法控制直流电机牵引水下航模实现上升、下潜和深度定位等基本功能.实验结果表明:电磁波有效通信距离为10 m以上,误码率小于2%,水下航模定位精准,系统具有较强的抗干扰能力.

In view of the problems such as high frequency electromagnetic wave , intense reflection at the interface between air and water ,and fast transmission of attenuation in the water , 507 kHz medium wave was adopted as a carrier signal , radio communication between land-based control platform and underwa-ter submarine model is implemented in this paper .This system adopts MSP 430 single chip microcomputer as control core,using HT6221 coding techniques to realize signal encoding , land-based control platform after OPA561 amplified by L antennas output;CD9088 use special frequency modulation circuit , the real-ization of underwater vehicle radio signal decoding ,after dealing with the single chip microcomputer ,the dc motor control signal through the infrared light wave communication sent to the surface drive unit , using PID algorithm to control dc motor traction model aircraft rise , diving and deep underwater positioning and other basic functions .The experimental results show that the electromagnetic wave effective communication distance is more than 10 m and the bit error rate is less than 2%, underwater submarine model underwater positioning precision , and the system has strong anti-interference ability .