摘要
针对水下机器人作业时浮力及姿态变化,研制一种双向体积可变式浮力调节装置,以达到装置体积小且容积比大的要求。设计一种实验装置,验证该浮力调节装置的浮力及力矩变化符合预期目标。采用STM32ZET6单片机作为嵌入式控制系统主控制器,利用Visual Studio编写水面控制系统交互界面;以不同形式、不同频率的周期信号作为期望轨迹测试浮力调节装置跟踪性能,通过水池实验验证PID控制器的有效性。结果表明:浮力调节装置跟踪截止频率为1/30 Hz。
Aiming at the buoyancy and posture changes of the underwater robot during operation, a bidirectional variable volume buoyancy regulator was developed to reach the requirements of small size and large volume ratio.An experimental device was designed to verify whether the buoyancy and torque changes of the buoyancy regulator met the expected goals.STM32 ZET6 single-chip microcomputer was used as the main controller of the embedded control system, and the interactive interface of the water surface control system was written in Visual Studio;periodic signals with different forms and frequencies were used as the desired trajectory to test the tracking performance of the buoyancy regulator, the effectiveness of the PID controller was verified through the pool experiment.The results show that the buoyancy regulator tracking cutoff frequency is 1/30 Hz.
作者
殷宝吉
朱华伦
唐文献
YIN Baoji;ZHU Hualun;TANG Wenxian(School of Mechanical Engineering,Jiangsu University of Science and Technology,Zhenjiang Jiangsu 212003,China;Jiangsu Provincial Key Laboratory of Advanced Manufacture and Process for Marine Mechanical Equipment,Jiangsu University of Science and Technology,Zhenjiang Jiangsu 212003,China;Marine Design and Research Institute of China,Shanghai 200011,China)
出处
《机床与液压》
北大核心
2022年第8期37-42,共6页
Machine Tool & Hydraulics
基金
江苏省自然科学基金项目(BK20190964)
江苏省高校自然科学基金项目(19KJB510003)。
关键词
双向变体积式浮力调节装置
PID控制器
位移跟踪性能
Bidirectional variable volume buoyancy regulator
PID controller
Displacement tracking performance
