一种轻型水下机器人控制系统的设计和实现  

Design and implementation of control system for a kind of lightweight underwater robot

作　　者：常润发 何晓雄[1] CHANG Runfa;HE Xiaoxiong(School of Electronic Science and Applied Physics,Hefei University of Technology,Hefei 230601,China)

机构地区：[1]合肥工业大学电子科学与应用物理学院

出　　处：《合肥工业大学学报（自然科学版）》2019年第7期935-939,共5页Journal of Hefei University of Technology：Natural Science

基　　金：国家磁约束核聚变能研究专项资助项目(2014GB101000)

摘　　要：文章针对水下机器人运行环境的特殊性,设计并构建了一款轻型水下机器人;对其控制系统进行了总体设计,并搭建了以STM32微控制器为核心的软硬件平台;根据该机器人的结构特点和运动特性,分别设计了单级和串级比例-积分-微分(proportional-integral-derivative,PID)控制器对机器人进行深度及姿态控制,将姿态控制器和深度控制器计算得到的控制量并联输出,作为脉冲宽度调制(pulse width modulation,PWM)调节量对电机调速;最后通过水下试验验证了控制算法和控制系统的有效性和可靠性。According to the special operation environment of underwater robot,a kind of lightweight underwater robot is designed. The overall design of its control system is presented,and the system software and hardware platform based on STM32 microcontroller unit(MCU) is built. Based on the characteristics of the structure of the robot and its movement features,single-stage proportional-integral-derivative(PID) controller and cascade PID controller are designed to control depth and attitude of robot. The control output calculated by the attitude controller and the depth controller in parallel is used as the pulse width modulation(PWM) regulator to adjust the rotation speed of motor. Finally,the effectiveness and reliability of the control algorithm and control system are verified by underwater tests.

关 键 词：水下机器人 控制系统 STM32微控制器 串级PID控制器 姿态控制器 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]