微小型水下机器人断电保护方法及艏向跟踪性能研究

Research on Power-off Protection Method and Heading Tracking Performance of Small-size Underwater Vehicle

提出一种下位机关机监控方法,解决直接关闭水下机器人电源容易导致下位机主控制器系统崩溃的问题;设计一种推进器电源控制电路,解决下位机关闭后推进器突然达到最高转速问题;以不同形式、不同频率的周期信号作为期望轨迹测试水下机器人艏向跟踪性能。水池实验结果验证了所设计方法的有效性,艏向跟踪截止频率为0.03 Hz。

This article mainly conducts experimental research on small-size underwater vehicle.In order to solve the problem that directly turning off the power of the underwater vehicle will lead to the breakdown of the main controller system of the lower-level machine,a monitoring method for the lower-level machine is designed.In order to solve the problem of the thruster suddenly reaching the highest speed after the lower-level machine is turned off,a thruster power control circuit is designed.In order to test the heading tracking performance of the underwater vehicle,periodic signals of different forms and frequencies are used as expected trajectories in the tank experiment to verify the effectiveness of the designed method.The experimental results show that the heading tracking cutoff frequency is 0.03 Hz.