一种用于深海装备的着陆控制技术

A kind of landing control technology used for deep-sea equipment

针对深海装备在海洋科学调查和资源勘探等领域中的应用,设计并实现了一种用于深海装备的着陆控制技术,并完成了原理样机的开发。系统以STM32处理器为核心,结合高度计、倾角传感器及步进电机,通过采用创新性的"二次调平"机制,在实验室水池中实现了原理样机在复杂地形下的平稳着陆与调平功能。经测试,其能可靠地完成预定功能,满足了设计的要求。

For the application of deep-sea equipment in marine scientific research and in the field of resources exploration, a kind of landing control technology used for deep-sea equipment was developed and implemented, and a principle prototype was also completed. The principle prototype takes STM32 processor as the core and combines with altimeter, inclinator and step motor. Then with the adoption of innovative mechanism of ＂secondary leveling＂, the principle prototype realized the complex terrain of smooth landing and the leveling function in the environment of the laboratory pool. The test shows that it can accomplish those functions in a reliable way and meet the requirements of the design.