针对现有水下滑翔器姿态调节系统存在的功耗较高和可靠性较低的问题，从降低功耗措施和提高可靠性2个方面着手，重点设计研究了一种基于STM32F103RBT6的新型嵌入式水下滑翔器姿态调节系统。通过对姿态调节系统驱动电源的分时控制以及采取的位置的反馈自纠错措施，设计一种新型的低功耗、高可靠性的姿态调节系统。经过试验测试验证，新型水下滑翔器姿态调节系统能够显著降低滑翔器整机功耗和提高滑翔器航行的可靠性,能够较好满足滑翔器对于远距离无故障续航能力的要求。
To solve the existing problems of high power consumption and low reliability in the attitude adjustment system of underwater glider, from two aspects of reducing power consumption and improving reliability, a new embedded attitude control system of underwater glider based on STM32F103RBT6 is designed and studied. Through the time-sharing control of the driving power of attitude adjustment device and adopted the feedback self-correction measures of the position, a new type of low power consumption and high reliability system for attitude adjustment was designed. After test and verification, the new attitude adjustment system of underwater glider can significantly reduce the power consumption of the whole glider and improve the flight reliability of the glider. It can better meet the requirements of the glider for long distance trouble-free endurance.
2022,44(17): 68-71 收稿日期：2021-10-26
DOI：10.3404/j.issn.1672-7649.2022.17.014
分类号：U674.941
基金项目：国家重点研发计划（2017YFC0306300）
作者简介：王健(1989-)，男，硕士，高级工程师，主要从事水下无人潜航器测试控制技术研究
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