Research And Development Of Underwater Glider Control System Hardware

Underwater Glider control system hardware research and development topic is to meet the needs of the development of underwater glider established. Through analysis of underwater glider control system that finding characteristics of the hardware on the basis of this paper, gliding underwater embedded control system hardware, the design of the underlying software development program. Based on this thinking, C language is the main underlying communications software development tool, designed and developed the hardware control systems. The hardware control system not only meets the functional underwater glider demand, but also versatility and ease-of-use characteristics.Firstly, introduced underwater glider robot's overall structure, conduct underwater glider robot driving principle studies in three aspect, the robot needs described the three-conditioning system, through the system, achieving underwater glider robot glide, dive, steering and other functions on the principle of underwater glider robot movement. Clearly understanding the movement theory about underwater glider robot.Secondly control system hardware design and software design. The entire control hardware system is divided into two parts of the surface and underwater, and underwater control systems, identify underwater control computer operating system, platform, select the appropriate sensors, underwater structures control system hardware platform For the control system on the surface, clear control as a basis for the water control structures hardware platform. Control system software underwater glider robot against a specific functional requirements, to C language development tools, a robot control system underwater glider bottom-driven program design, the entire software design including data acquisition and processing module, and surface control module software for the realization of a detailed discussion, and gives the design plan.Finally, the overall debugging, and software connectivity control circuit debugging. Before testing the water in the rational design. Through experimental verification, the paper control system hardware design to meet the basic underwater glider robot motion control, and procedures in the control system hardware platform operating normally.