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Received:May 18, 2018 Revised:June 15, 2018
Received:May 18, 2018 Revised:June 15, 2018
中文摘要: 水下机器人要求体积小、运动稳定，其控制系统更是要求功耗低、性能可靠、操作简便.本文以STM32F407作为主控单元，搭建了水下机器人运动控制系统，并对整个系统进行了软件结构设计及数据采集流程设计，对推进器进行了数据测试，建立了ROV空间运动坐标系，得出了垂直面的运动方程并以此进行了纵倾角和深度值在阶跃响应下的仿真分析，进一步证实运动控制系统的稳定性及可靠性.
Abstract:Underwater vehicle requires small volume, stable motion, low power consumption, reliable performance, and easy operation. In this study, the motion control system of underwater vehicle is built with STM32F407 as the main control unit, and the software structure and data acquisition flow are designed. The data test of the thruster is carried out, and the ROV space motion coordinate system is established. The equations of motion of the vertical plane are obtained and the simulation analysis of the angle and depth of the vertical plane under the step response is carried out. The stability and reliability of the motion control system are further verified.
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基金项目:陕西省科技统筹创新工程（2015KTZDGY-01-01）
引用文本：
张欢欢,田军委,熊靖武,赵彦飞,史珂路.水下机器人运动控制系统设计与分析.计算机系统应用,2018,27(12):83-89
ZHANG Huan-Huan,TIAN Jun-Wei,XIONG Jing-Wu,ZHAO Yan-Fei,SHI Ke-Lu.Design and Analysis on Motion Control System of Underwater Vehicle.COMPUTER SYSTEMS APPLICATIONS,2018,27(12):83-89
张欢欢,田军委,熊靖武,赵彦飞,史珂路.水下机器人运动控制系统设计与分析.计算机系统应用,2018,27(12):83-89
ZHANG Huan-Huan,TIAN Jun-Wei,XIONG Jing-Wu,ZHAO Yan-Fei,SHI Ke-Lu.Design and Analysis on Motion Control System of Underwater Vehicle.COMPUTER SYSTEMS APPLICATIONS,2018,27(12):83-89
