基于STM32两轴深水观测云台控制系统设计

Design of PTZ control system based on STM32 two-axis deep water observation

随着水下机器人在海洋能源勘探领域研究的深入,其需要借助云台实时监测水下环境、保证安全高效的作业。因此设计了基于STM32主控板的两自由度深水观测云台及其控制系统,在FreeRTOS上设置不同优先级的任务,实现CPU资源的高效利用。采用RS485实现云台和上位机通信,上位机按照Modbus双向通信协议向云台下位机发送控制命令。在实现两轴云台电机转动的同时,上位机实时接收检测到的数据。采用PID算法控制云台转动角度,通过分析实验结果,该系统可以实现云台两自由度控制和高质量图片视频采集。

With the deepening of research on underwater robots in the field of marine energy exploration,they need to use the PTZ to monitor the underwater environment in real time to ensure safe and efficient operations.Therefore,a two-degree-of-freedom deep-water observation PTZ and its control system based on the STM32 main control board are designed.FreeRTOS to divide the application into multiple tasks with different priorities and allocate CPU system resources reasonably.RS485 is used to realize the communication between the PTZ and the upper computer.The upper computer sends control commands to the lower computer of the PTZ according to the Modbus two-way communication protocol.While realizing the rotation of the two-axis pan/tilt motor,the upper computer receives the detected data in real time.The PID algorithm is used to control the rotation angle of the PTZ.By analyzing the experimental results,the system can achieve two-degree-of-freedom control of the PTZ and the collection of high-quality pictures and videos.