现代电子技术2026，Vol.49Issue(4)：173-177,5.DOI:10.16652/j.issn.1004-373x.2026.04.026
蝾螈仿生机器人水中三维姿态调节系统研究
Research on three-dimensional attitude regulation system of salamander bionic robot in water
摘要
Abstract
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.关键词
蝾螈/仿生机器人/水下作业/姿态调节/浮力调节/增量式PID/硬软件设计Key words
salamander/bionic robot/underwater operation/attitude adjustment/buoyancy adjustment/incremental PID/software and hardware design分类
信息技术与安全科学引用本文复制引用
肖梦,刘强,李文轩,霍冠臣..蝾螈仿生机器人水中三维姿态调节系统研究[J].现代电子技术,2026,49(4):173-177,5.基金项目
连云港市重点研发计划(产业前瞻与关键核心技术)(CG2201) （产业前瞻与关键核心技术）
连云港市"521工程"项目(LYG06521202314) （LYG06521202314）
