摘要
为了快速、精准和有效地实现无人艇底层运动控制,完成艇上各个运动设备信息的上传下达,基于高性能的i.MX RT1052模块设计了底层运动控制系统。基于MDK5软件搭建了嵌入式软件运动控制系统,利用PID方法实现电机转速和舵机舵角的闭环控制,基于MODBUS协议实现电池信息的读取解析。自行设计了配电管理板,提高了系统的集成度和安全性。整套系统在xboat无人试验艇上进行了轨迹跟踪实艇验证,显示了设计的运动控制系统的有效性和可靠性。
An on-board motion control system of the USV is designed based on the high-performance i.MX RT1052 module in order to quickly,accurately and effectively realize the motion control of the USV(Unmanned Surface Vessel),and complete the transmission of the information of each motion equipment.In software,an USV embedded software motion control system is built based on MDK5 software,which can realize the closed-loop control of motor speed and rudder angle by PID method,and the reading and analysis of battery information based on Modbus protocol.The whole software system has fast response and high reliability.On the hardware,the power distribution management board is designed which improves the integration and security of the system.At last,the whole system is verified on the“xboat”test unmanned boat,which proves the validity and reliability of the on-board motion control system.
作者
包涛
张波
陈卓
周则兴
BAO Tao;ZHANG Bo;CHEN Zhuo;ZHOU Zexing(China Ship Scientific Research Center,Wuxi 214082,China)
出处
《中国造船》
EI
CSCD
北大核心
2020年第S01期97-104,共8页
Shipbuilding of China
