基于STM32的智能航行系统设计  

Intelligent navigation system design based on STM32

作　　者：徐岩[1] 甄实 林子圣 钱晓阳 刘长明 XU Yan;ZHEN Shi;LIN Zisheng;QIAN Xiaoyang;LIU Changming(College of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001,China;College of Shipbuilding Engineering,Harbin Engineering University,Harbin 150001,China;College of Intelligent Systems Science and Engneering,Harbin Engineering University,Harbin 150001,China)

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001 [2]哈尔滨工程大学船舶工程学院,黑龙江哈尔滨150001 [3]哈尔滨工程大学智能科学工程学院,黑龙江哈尔滨150001

出　　处：《应用科技》2024年第4期25-29,共5页Applied Science and Technology

摘　　要：为解决航行器智能确定航向并航行的问题,本文采取模块化的思想设计了一款基于STM32的红外导引的智能航行控制系统。该智能航行系统利用红外接收模块进行红外导引信号的接收,采取线性加权法进行航向与导引信号之间的偏离角确定,利用比例-积分-微分(proportion-integration-differentiation,PID)控制算法对控制舵机转角的脉冲宽度调制(pulse width modulation,PWM)信号的占空比进行确定,从而对螺旋桨的转速与舵桨的转角进行可靠控制。根据水池测试结果,该智能航行控制系统能够对红外接收信号进行快速处理,在保持较高航速的条件下进行可靠的航行控制。To solve the problem of intelligent determination of heading and navigation for spacecrafts,this paper adopts a modular approach to design an intelligent navigation control system based on STM32 infrared guidance.The intelligent navigation system uses an infrared receiving module to receive infrared guidance signals,adopts a linear weighting method to determine the deviation angle between the heading and guidance signals,and uses a proportional integration differentiation(PID)control algorithm to determine the duty cycle of the pulse width modulation(PWM)signal controlling the steering angle,thereby reliably controlling the speed of the propeller and the steering angle of the rudder.According to the test results of the water tank,the intelligent navigation control system can quickly process infrared received signals and perform reliable navigation control while maintaining a high speed.

关 键 词：STM32 智能航行 线性加权法 比例积分微分控制 脉冲宽度调制 结构优化 信号处理 水池实验 

分 类 号：TN60[电子电信—电路与系统] TP11[自动化与计算机技术—控制理论与控制工程]