基于ARM自主式水下机器人系统设计

System Design of the Autonomous Underwater Vehicle Based on ARM

为了解决自主式水下机器人智能控制问题,设计了一种自主式水下机器人。文章从系统设计方面介绍了自主式水下机器人,利用PID控制算法对水下机器人运动控制进行了试验研究。PID算法对自主式水下机器人进行回路控制,实现对水下机器人航向角度进行控制,从而提高稳定性能。通过研究自主式水下机器人及其控制系统能够实现水下机器人对目标进行锁定进行观测,优化了自主式水下机器人的工作性能和指标。

In order to solve the intelligent control problem of autonomous underwater vehicle （AUV）, an autonomous underwatervehicle （AUV） is designed. In this paper, the autonomous underwater vehicle is introduced from the aspect of system design, and theexperimental study on the motion control of the underwater vehicle is carried out using the PID control algorithm. PID algorithm con-trols the autonomous underwater vehicle loop, to achieve the control of its heading angle, so as to improve the stability performance.Through the research of autonomous underwater vehicle and its control system, it can get the underwater vehicle to lock and observethe target, and optimize the working performance and index of the autonomous underwater vehicle.