The Design Of The Servo Controller Of AUV Based On ARM

The new AUV, syncretizing mechanics, dynamics, electronics, automatic control,communication and other technics, is a very complicated multi-technics. The AUV assembles the vertical-thruster,side-thruster and sonar etc, and adopts distributed control system based on CAN bus.Thereinto, the servo system is executive unit and plays a decisive role in the overall system. The paper analyses the research status for servo system, and a servo system is designed in this thesis using ARM micro processor. The system consists of CAN communication module, driver module, sampling module and protect module.Fistly, this paper analyses the design requirement of servo controller system, and frames a system designed project using ARM micro as the kernel. In order to satisfy the need of communicational speed and credibility, the system adopt CAN bus.Secondly, the paper presents in detail hardware and software design of the control system. It mainly includes center control system frame based on ARM embedded micro processor and other modular design. In this part, some points are presents in detail, including hardware choosing,unit circuit design, control principle and control algorithm. Based on software design, the RTOS applied in the servo system improve the real time performance.Finally, it designs system testing platform based on PC, and carries system testing experiment on the moment simulation load. It have gained approving validation for the servo system.The innovation of this paper consists in its simplicity and reliability using ARM embedded microprocessor as the kernel. Relative to traditional servo, this servo adopts digital control, and promotes the performance and anti-jamming. At the same time, the RTOS is transported in the servo which more advances the performance and expansibility of the servo system.