摘要
研制的一套搭载在AUV上的自主采样系统,控制系统以MSP430单片机为核心控制模块,通过专业电机控制芯片M33035控制H桥电路,实现对电机的伺服控制。根据霍尔传感器信息控制采样器行程,同时增加了扭矩位置检测,确保采样器完全回收到AUV保护罩内。为了提高系统的负载能力,设置了电机自锁电路。整套控制系统得到了2次海试的验证,取得了良好的效果,是海底采样的小型化,实用化和创新型的研究和突破。
This paper introduces a AUV sampling system,and it mount on the AUV.The system adopts MSP430 as the core control module.It controls the H bridge circuit by controlling the motor chip M33035.The system controls sampling trip according to Hall sensor information,and it increases torque position detection which to ensure take back sampler completely.In order to improve the load capacity,the system set the motor self-locking circuit.It carries out a lot of experiments after assemble on the AUV and take part in two ocean tests.The sampling control system has good results in all the tests.It is small,practical and innovative research and breakthroughs about seabed sampling.
出处
《电子测量技术》
2010年第11期5-9,共5页
Electronic Measurement Technology
基金
"十一五"总装备部重点预研项目"水下无人实验系统集成和性能评估技术--水下自救与取样作业技术"
