文献类型：期刊文献

中文题名：小型有缆无人水下机器人控制系统设计

英文题名：Design of Control System for Small Cable Remote Operated Vehicle

作者：肖朋振[1];刘爽[1]

机构：[1]华东理工大学机械与动力工程学院,上海200237

年份：2019

卷号：40

期号：2

起止页码：451

中文期刊名：小型微型计算机系统

外文期刊名：Journal of Chinese Computer Systems

收录：CSTPCD;;Scopus;北大核心:【北大核心2017】；CSCD:【CSCD_E2019_2020】；

基金：国家自然科学基金青年基金项目(51405236)资助;上海市浦江人才计划项目(16PJ1402300)资助

语种：中文

中文关键词：ROV;模糊自适应控制;分布式系统;FreeRTOS

外文关键词：ROV;adaptive fuzzy control;distributed subsystem;FreeRTOS

摘要：针对有缆型无人水下机器人(ROV,Remote Operated Vehicle),本文从控制算法、传感器数据采集、任务调度方面设计了一种控制系统.首先,设计了模糊自适应串级PID控制器用于ROV的运动与姿态控制,弥补了传统控制算法的不足,控制性能得到提高.其次,采用分布式子系统采集处理传感器数据,提高了传感数据更新速率.最后,在主微控制器(MCU,Micro Con-trol Unit)中采用嵌入式实时操作系统FreeRTOS进行任务调度,系统的实时性得到增强.为了验证该控制系统方案的可行性,搭建实验环境并进行了实验,实验结果表明该系统可以对ROV进行良好的控制.
This paper presents a ROV( Remote Operated Vehicle) control system,and introduces its motion control algorithm,sensor data acquisition and task scheduling. First,an adaptive fuzzy cascade PID controller is designed for motion and posture control. It can make up for the deficiencies of traditional PID algorithm and improve the controller performance. Then,a distributed subsystem is proposed to collect and process all the sensors’ data. As a result,the update rate of sensor data has been improved,and the usage of the main micro-controller has been reduced. Finally,in order to strengthen the system’s real-time performance,the embedded real-time operating system FreeRTOS is used in the master microcontroller. To verify the effectiveness of the proposed control system,an experimental platform is constructed and some experiments are then carried out,and the results prove that the proposed system can control ROV effectively.