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水下机器人推进器控制系统PWM及电流信号降噪方法

殷宝吉 周佳惠 唐文献 董亚鹏

殷宝吉, 周佳惠, 唐文献, 董亚鹏. 水下机器人推进器控制系统PWM及电流信号降噪方法[J]. 水下无人系统学报, 2021, 29(2): 196-202. doi: 10.11993/j.issn.2096-3920.2021.02.010
引用本文: 殷宝吉, 周佳惠, 唐文献, 董亚鹏. 水下机器人推进器控制系统PWM及电流信号降噪方法[J]. 水下无人系统学报, 2021, 29(2): 196-202. doi: 10.11993/j.issn.2096-3920.2021.02.010
YIN Bao-ji, ZHOU Jia-hui, TANG Wen-xian, DONG Ya-peng. Denoising Method for the Pulse Width Modulation Signal and Current Signal in the Control System of Underwater Robot Thruster[J]. Journal of Unmanned Undersea Systems, 2021, 29(2): 196-202. doi: 10.11993/j.issn.2096-3920.2021.02.010
Citation: YIN Bao-ji, ZHOU Jia-hui, TANG Wen-xian, DONG Ya-peng. Denoising Method for the Pulse Width Modulation Signal and Current Signal in the Control System of Underwater Robot Thruster[J]. Journal of Unmanned Undersea Systems, 2021, 29(2): 196-202. doi: 10.11993/j.issn.2096-3920.2021.02.010

水下机器人推进器控制系统PWM及电流信号降噪方法

doi: 10.11993/j.issn.2096-3920.2021.02.010
基金项目: 江苏省自然科学基金资助项目(BK20190964); 江苏省高校自然科学基金资助项目(19KJB510003); 水下机器人技术重点试验室研究基金资助项目(6142215180306).
详细信息
    作者简介:

    殷宝吉(1987-), 男, 博士, 讲师, 主要研究方向为水下机器人故障诊断.

  • 中图分类号: TP273.2 TN911.7

Denoising Method for the Pulse Width Modulation Signal and Current Signal in the Control System of Underwater Robot Thruster

  • 摘要: 针对水下机器人推进器控制及其运行状态监测问题, 研究了推进器控制系统脉冲宽度调制(PWM)信号及电流信号降噪方法。针对基于典型串联接地方式建立的推进器控制电路中, PWM信号的纹波幅值及占空比波动都较大的问题, 设计了一种冗余接地电路, 该电路在主控中央处理器和模拟转脉冲宽度调制模块之间单独增加一条地线, 以避免信号受到电源地线的干扰。针对推进器工作电流信号数据中噪声干扰较强, 以及基于小波分解降噪后电流数据与真实电流数据的误差仍然较大的问题, 提出了一种基于小波分解和七点滑移平均交叉耦合的耦合降噪方法。水池试验结果表明, 冗余接地电路与典型串联接地电路相比, 具有更小的纹波幅值和占空比波动; 利用所提耦合降噪方法的电流数据与原始电流数据和小波分解降噪后电流数据相比, 与真实电流数据的误差更小。试验结果验证了上述方法的有效性。

     

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出版历程
  • 收稿日期:  2020-04-27
  • 修回日期:  2020-07-02
  • 刊出日期:  2021-04-30

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