摘要
本文设计了一种基于灰色理论的AUV舵机控制系统,硬件采用STM32单片机及CAN总线.仿真结果和实际测试表明,在超调量、调节时间等方面,系统性能较传统PID控制得到了明显改善.
In this paper, a steering control system is designed for autonomous underwater vehicle （AUV） based on grey theory. The hardware is devised with STM32 microcontroller and CAN bus. Simulation results and actual tests show that the system performance compared with conventional PID control has been signifi- cantly improved in the overshoot, regulating time etc.
出处
《三峡大学学报（自然科学版）》
CAS
2014年第2期81-83,共3页
Journal of China Three Gorges University：Natural Sciences
基金
国家自然科学基金(61273183)
国家重大专项子课题(2011ZX05024-002-004)
湖北省科技厅重点项目(2013CFA050)
关键词
自主式水下航行器
舵机控制
灰色理论
autonomous underwater vehicle（AUV）
steering control
grey theory
