混合驱动水下滑翔器主从互转式应急控制技术研究

Research on master-slave rotation emergency control technology of hybrid driven underwater glider

摘要:

水下滑翔器是一种长续航新型水下机器人,利用其高效的驱动方式能够航行数月,因而相比其他无人水下自主航行器,滑翔器控制系统的可靠性显得尤为关键。根据水下滑翔器长续航的工作需求,结合其分布式控制系统的架构形式,设计了一种主从互转式应急控制技术。通过CPU互监控以及建立公共存储区等手段,实现了控制器异常情况下的非复位式热切换,保证了滑翔器重要动作部件的正常运行。试验结果表明,利用主从互转式控制方式,可以极大的减小了控制系统中主CPU宕机对滑翔器自主运行的影响,增加水下滑翔器的安全性能。

Abstract:

Underwater glider is a new type of long-range underwater robot, which can sail for several months with its efficient driving mode. Therefore, compared with other autonomous underwater vehicles, the reliability of glider control system is particularly important. According to the long-range requirement of underwater glider and the architecture of its distributed control system, a master-slave emergency control technology is designed. By means of CPU mutual monitoring and establishing common storage area, the non reset hot switch is realized under the abnormal condition of the controller, which ensures the normal operation of the important moving parts of the glider. The test results show that the master-slave interactive control mode can greatly reduce the impact of the main CPU outage on the autonomous operation of the glider, and increase the safety performance of the underwater glider.