STM32的水下拖体尾缆模拟运动控制器设计  

Design of Simulated Motion Controller of Underwater Towed Tail Cable Based on STM32

作　　者：赵锡东 于凯本 宗乐 于镭[1] Zhao Xidong;Yu Kaiben;Zong Le;Yu Lei(Qingdao University of Science and Technology,Qingdao 266061,China;Management Center of National Deep Sea Center)

机构地区：[1]青岛科技大学,青岛266061 [2]国家深海基地管理中心

出　　处：《单片机与嵌入式系统应用》2019年第5期76-80,85,共6页Microcontrollers & Embedded Systems

基　　金：深拖式高分辨率多道地震探测技术与装备研究(2016YFC0303901)

摘　　要：采用STM32F407作为主控芯片,设计了拖体尾缆模拟运动控制器来模拟拖体尾缆的运动,给出了运动控制器的设计方案,并利用Visual Studio设计上位机实时对电机的速度和位置进行控制。控制策略上采用模糊PID控制算法配合电机加减速控制,提高了控制系统的动态性能,在保证稳态精度的同时有效减小了超调量,使得电机运行的精确性和稳定性大大提高。实验结果表明,在忽略水流对拖体影响的情况下,该运动控制器对于电机速度和位置的控制能够满足模拟拖体尾缆运动的要求。In the paper,STM32F407 is used as the main chip,and a three-axis motion controller is designed to simulate the motion of the tow cable.The design scheme of the motion controller is given.In addition,Visual Studio is used to design the upper computer to realize the real-time control of the speed and position of the motor.The control strategy uses fuzzy incremental PID with motor acceleration and deceleration control,which improves the dynamic performance of the control system,effectively reducing the overshoot while ensuring steady-state accuracy,and improves the accuracy and stability of the motor operation.The experiment results show that the motion controller can control the speed and position of the motor to simulate the movement of the tow cable in the case of ignoring the influence of the water flow on the tow.

关 键 词：STM32F407 VISUALSTUDIO 控制算法 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]