SIA OpenIR  > 水下机器人研究室
水下滑翔机低功耗控制系统研究
其他题名Research on Low Power Consumption Control System for Underwater Gliders
陈杰1,2
导师俞建成
分类号TP273
关键词水下滑翔机 低功耗 控制系统 参数优化 传感器调度
索取号TP273/C45/2016
页数63页
学位专业计算机应用技术
学位名称硕士
2016-05-25
学位授予单位中国科学院沈阳自动化研究所
学位授予地点沈阳
作者部门水下机器人研究室
摘要为了满足长时间、大尺度海洋调查的要求,本文以中国科学院沈阳自动化研究所研制的水下滑翔机为例,主要针对水下滑翔机控制系统的低功耗关键技术进行了研究,论文的主要内容有:(1)分析了水下滑翔机完整的滑翔运动作业过程,将其概括为四个阶段、三个转折点;然后分析了水下滑翔机控制系统在作业过程中各个阶段以及转折点的工作原理,从而得出滑翔运动中水下滑翔机设备以及传感器等各模块的工作状态;最后完成了对水下滑翔机所包含的设备以及传感器的分单元功耗测试实验。(2)根据水下滑翔机的运动以及现有功耗测量并结合海试试验数据,建立了水下滑翔机的稳态滑翔模型、能耗模型、以及滑翔距离模型。这三个模型的建立为后面的低功耗设计以及优化方案提供了理论基础。(3)提出了水下滑翔机低功耗设计方案。从软硬件两个方面对现有水下滑翔机控制系统进行了低功耗改进;硬件方面,进行了供电电池优化,提出了由原来24V电源统一供电变为同等电量下,24V与5V两组电池组分组供电,节省由原来24V电源向5V电源转换时不必要的能量损耗;软件方面,提出一种基于μc/os-II和ARM控制器特点的低功耗设计方案,并给出了这种方案的低功耗效率的评估以及测试。(4)在给定有限能源的情况下,通过对滑翔距离模型的分析,提出了运动参数优化及传感器调度策略两种方案来提升续航能力;并对这两种方案进行了仿真实验研究,实验表明这两种方案能有效提高滑翔距离;另外提出了能耗模型与海试试验数据相结合的能量估算方案,多次海试试验结果表明,该方案能有效对续航能力进行预判。
其他摘要Marine reserves a lot of resources and energy, along with the increasing scarcity of land resources, sustainable development of human will rely on the ocean more and more increasingly. The underwater gliders with an autonomous, low noise, wide range and long endurance have been widely used as a marine environmental monitoring platform. The underwater gliders take the battery as the system energy, which decides the working time and the distance of the underwater gliders. However, the inner space of the underwater glider carrier is limited, the battery capacity is limited, too. So the low power design of the underwater gliders is very important for the realization of wide range and long endurance. In order to meet requirements of long time and large scale oceanographic survey, taking the underwater gliders developed by the Shenyang Institute of Automation, Chinese Academy of Sciences as an example, this paper mainly studies key technologies of low power consumption for the control system of the underwater gliders. The main contents of the paper are organized as follows: (1) The process of gliding motion cycle of an underwater glider is analyzed, which is divided into four stages and three turning points. Then the operation principle of the control system of the underwater glider is analyzed, so the working states of the underwater glider devices and sensors are obtained. At last, the experiment of unit testing of power consumption for the underwater glider devices and sensors is carried out. (2) According to the motion of the underwater gliders and the existing power measurements and combing with the data of the sea trial, the steady gliding motion model, the energy consumption models and the gliding range model of the underwater gliders are established. (3) A low power design scheme for the underwater gliders is proposed. The low power consumption improvement of the existing control system for the underwater gliders is carried out from two aspects of the software and hardware. In terms of hardware, the power supply battery is optimized. The power supply of 24V and 5V two groups of batteries is proposed, which is changed from the original 24V power supply to the same amount of power supply. The energy loss from the original 24V power supply to the 5V power conversion is saved. In terms of software, a design scheme of low power consumption based on the characteristics of μc/os-II and ARM controller is proposed. The evaluation and testing of the low power efficiency of the scheme are given. (4) In case of a limited energy, through the analysis of the gliding range model, the motion parameters optimization and sensor scheduling strategy are proposed to improve the endurance capacity. The two schemes are proved by simulation, and the results show that the two schemes can effectively improve the gliding distance. An energy estimation scheme is proposed, which is combined with the test data of the sea trial. Multiple sea trial results show that the proposed scheme can effectively predict the endurance ability.
语种中文
产权排序1
文献类型学位论文
条目标识符http://ir.sia.cn/handle/173321/19653
专题水下机器人研究室
作者单位1.中国科学院沈阳自动化研究所
2.中国科学院大学
推荐引用方式
GB/T 7714
陈杰. 水下滑翔机低功耗控制系统研究[D]. 沈阳. 中国科学院沈阳自动化研究所,2016.
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