The Control System Design Of Four Bladders Underwater Glider In The Shallow Sea

The environment in shallow sea is becoming worse and worse,which has attracted people's attention to the ocean ecological monitoring.Unmanned underwater glider gained more and more application in ocean development.Traditional underwater glider mostly works in the deep sea,and its mobility and adaptability are common.Based on this,a model of four bladders underwater glider system prototype in shallow sea is put forward and designed for the first time in this paper,and the control system design is completed.The experimental results show that the prototype can realize the control task and performance index,and it reflects a better application prospect.First of all,system task requirement is put forward and operational principle is analyzed in the paper,establishing the control system kinematics and dynamics model,simplifying the model of vertical profile according to the actual movement.Least-square grey box identification method is applied to get the transfer function of pitching motion control.Finish the parameter estimation and model validation.According to the model,the structure of underwater glider is designed,and the energy consumption is analyzed.According to the requirements,designed the control circuit hardware architecture,realized the building of the hardware platform using STM32 as the core of attitude control board and STC90C516 as the core of gliding executive board,cooperated with sensor modules,the hardware foundation is laid.Aiming at the transfer function model of the pitch motion control being identified,the gesture adaptive fuzzy PID controller and position fuzzy controller are designed in MATLAB.Simulation results show that,compared to the conventional PID controller,fuzzy PID controller has better dynamic performance and steady state accuracy.The design of the main program?control algorithm program and the executive board program are completed in the KEIL MDK5.Finally,the attitude controller test and the whole motion control test are completed.The experimental results further verify the effectiveness of the algorithm.The design of the control system is reasonable;it can be put into the follow-up study.