一种小型浅水域水下机器人控制系统设计  

Design of a Control System for a Small Underwater Vehicle in Shallow Water

作　　者：周正 唐雯铠 陈慕瑞 顾泽覃 高熙昊 

机构地区：[1]江苏海洋大学海洋工程学院,江苏连云港222000

出　　处：《工业控制计算机》2024年第11期97-99,共3页Industrial Control Computer

基　　金：江苏省研究生科研与实践创新计划项目(SY202226X1)。

摘　　要：为了探索河流湖泊等浅水流域,设计了一种小型浅水域水下机器人。基于FreeRTOS实时操作系统,采用MPU9250姿态传感器和MS5837水深压力传感器等模块搭建了以STM32微控制器为核心的软硬件平台。根据水下机器人的结构特点和运动特性,设计了串级PID控制器和单级PID控制器,并进行了水下姿态和深度控制试验。试验结果表明,所设计的控制器可以使水下机器人在水下平稳运行并得到有效稳定的控制。In order to explore shallow water areas such as rivers and lakes,a small shallow water underwater robot is designed in this paper.Based on the FreeRTOS real-time operating system,a software and hardware platform with STM32 microcontroller as the core is built using modules such as MPU9250 attitude sensor and MS5837 water depth pressure sensor.Based on the structural and motion characteristics of underwater robots,a cascade PID controller and a single stage PID controller are designed,and underwater attitude and depth control experiments are conducted.The experimental results show that the designed controller can smoothly operate and effectively control underwater robots.

关 键 词：水下机器人 FREERTOS STM32微控制器 PID控制器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]