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

作　　者：王健[1] 曹园山 陈伟 Wang Jian;Cao Yuanshan;Chen Wei(China Ship Scientific Research Center,National Key Laboratory of Science and Technology on Hydrodynamics,Wuxi214082,China)

机构地区：[1]中国船舶科学研究中心水动力学国家重点实验室,江苏无锡214082

出　　处：《计算机测量与控制》2020年第5期133-136,150,共5页Computer Measurement &Control

基　　金：国家重点研发计划(2017YFC0306300)。

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,可以极大地减小控制系统中主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。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.

关 键 词：水下滑翔器 应急控制 主从互转 

分 类 号：V271[航空宇航科学与技术—飞行器设计]