基于ARM的水下机器人通信与控制器研制  

Communications and Control of Underwater Vehicles Based on ARM

作　　者：李港[1] 朱大奇[1] 颜明重[1] 

机构地区：[1]上海海事大学水下机器人与智能系统实验室,上海201306

出　　处：《自动化与仪表》2010年第3期4-6,51,共4页Automation & Instrumentation

基　　金：上海市教委科研创新项目(10ZZ97;09YZ248);高校博士点基金项目(20093121110001)

摘　　要：应用UP-NETARM 2410-S嵌入式系统研制OUTLAND1000水下机器人控制器,控制器主要包括两个部分:OUTLAND1000水下机器人通信系统和PID控制部分。OUT-LAND1000水下机器人传感器通过RS485将机器人的运行情况传送到控制转换器,控制转换器再通过RS232与控制器通信,控制器应用PID算法实现机器人的状态控制,最后通过水池实验给出控制结果。A controller was designed for OUTLAND1000 underwater vehicles which based on UP-NTEARM 2410-S and this controller mainly includes two parts： communication syetem of the OUTLAND1000 underwater vehicle and the control part which based on the PID algorithm. The data of sensors are transmitted to transfer controller using RS-485 serial communication, and then transfer controller communication with the controller by the way of RS232. The controller of OUTLAND1000 was achieved by the PID algorithm. The final control result is given by the pool experiment.

关 键 词：无人水下机器人 推进器 串口通信 PID算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]