浅海起伏式拖体控制系统的研制*

作者：吴震宇1，胡旭东1，邓显明2，陶春辉2 日期：2009-06-24/span> 浏览：3713 查看PDF文档

浅海起伏式拖体控制系统的研制*

吴震宇1，胡旭东1，邓显明2，陶春辉2
(1.浙江理工大学 机械与自动控制学院，浙江 杭州 310018;
2.国家海洋局第二海洋研究所 国家海洋局海底科学重点实验室，浙江 杭州 310012)

摘要：针对浅海起伏式拖体实时数据通讯和复杂运动控制的问题，提出了一种由甲板计算机和水下控制器构成的控制系统。水下控制器采用微处理器MCF5213为核心，通过驱动步进电机来调节前翼角度以实现拖体起伏运动；利用接口芯片SP490实现对集成传感器的数据访问；利用接口芯片SP485完成和甲板计算机的实时通讯。在甲板计算机上，采用Delphi，并结合MapX开发了可视化浅海水文测试数据导航软件。实际应用结果表明，该系统能够较好地满足起伏式拖体的工作要求。
关键词：起伏式拖体；角度控制；地理信息系统；步进电机；全球定位仪
中图分类号：TP36文献标识码：A文章编号：1001-4551(2009)06-0031-03

Shallow sea undulating towedvehicles control system
WU Zhenyu1, HU Xudong1, DENG Xianming2, TAO Chunhui2
(1. Faculty of Mechanical Engineering & Automatic Control, Zhejiang SciTech University, Hangzhou 310018, China;
2. Key Laboratory of Submarine Geosciences, Second Institute of Oceanography, SOA, Hangzhou 310012, China)
Abstract: Aiming at realtime communication and complex motion control of shallow sea undulating towedvehicle, a set of control system which was constructed by deck computer and underwater controller was developed. A microprocessor MCF5213 was used as CPU of the underwater controller which adjusts the underwater position of tow by step motor. The interface chip SP490 was used to get the data from sensors, and the interface chip SP485 was used to provide real time communication with the deck computer. A sea survey data processing system running on the navigation computer was developed by using the software development tool Delphi and programmable control MapX. The result of application indicates that the control system works very well.
Key words: undulating tow; angle control; geographical information system(GIS); step motor; global position system(GPS)
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