蝾螈仿生机器人水中三维姿态调节系统研究OA

In order to realize the lifting,sinking and pitching attitude adjustment function of salamander bionic robot during underwater operations,a low-cost and highly reliable intelligent pneumatic buoyancy adjustment system is designed and developed.On the basis of analyzing the structure and function of the buoyancy adjustment system,the hardware and software design scheme of controller of the system is proposed.In the controller,STM32F407ZGT6 is used as the main control chip,the Bluetooth APP for snorkelling and pitching control is developed based on APP Inventor,and the incremental PID closed-loop control algorithm is used to realize the precise adjustment of snorkelling and pitching attitude.The experimental testing results show that the proposed control algorithm has good control accuracy,and this controller can meet the performance requirements of high-precision buoyancy adjustment devices.