小型水下机器人运动控制系统设计  

Design of motion control system for small remotely operated vehicle

作　　者：侯茂林 马春燕[1] 庞健 安宝宝 HOU Maolin;MA Chunyan;PANG Jian;AN Baobao(College of Electrical and Power Engineering,Taiyuan University of Technology,Taiyuan 030024,China)

机构地区：[1]太原理工大学电气与动力工程学院,山西太原030024

出　　处：《现代电子技术》2023年第22期53-57,共5页Modern Electronics Technique

摘　　要：随着水下机器人被广泛应用于各种领域,研制航行阻力小、便于携带、机动性能好及可靠性高的小型水下机器人的需求不断增加。文中采用Solidworks软件设计一种基于有缆遥控的水下机器人,并采用姿态传感器、MS5837压力传感器、摄像头等搭建以STM32微控制器为核心的硬件平台。根据机器人结构特点和运动特性,设计模糊比例-积分-微分控制器,进行机器人水下实验测试。试验中水下机器人运行稳定、水下图像清晰。试验结果表明,水下机器人控制系统可以对水下机器人的姿态进行有效控制,满足运动控制需求。With the widespread use of ROV(remotely operated vehicle)in various fields,the demand for the development of small ROV with low navigation resistance,easy to carry,good maneuverability and high reliability is increasing.Solidworks software is used to design a ROV based on cable control,and the attitude sensor,MS5837 pressure sensor,camera and other devices are used to construct a hardware platform with STM32 microcontroller as the core.A fuzzy proportion-integral-differential controller is designed according to the structural characteristics and motion characteristics of ROV,and the ROV underwater experimental test is conducted.During the experiment,the ROV can operate stably and has clear underwater images.The testing results show that the ROV control system can effectively control the ROV attitude and meet the needs of motion control.

关 键 词：水下机器人 运动控制系统 STM32微控制器 SOLIDWORKS软件 模糊串级PID控制 运动试验 

分 类 号：TN876-34[电子电信—信息与通信工程] TP242[自动化与计算机技术—检测技术与自动化装置]