| As human exploration of the oceans continued to deepen, being assistant of exploitation of ocean, AUV technology is developing fast. The performance of AUV motion control determines whether AUV can complete the good work of important factors. This paper developed motion control system is to work on AUV to complete the AUV motion control system hardware design.In order to allow intelligent control of AUV and autonomous navigation capabilities to deal with the vehicle development process, the existence of high-cost, large power consumption and other issues. This paper has used embedded technology to develop AUV control system. The study includes the following three aspects:After the study of AUV and embedded technology, we proposed a design that based on"DSP + PC104"CPU embedded control system, identifying the selection of TI's TMS320F2812 DSP embedded chips.After the study of principle and structural characteristics of DSP controller chip, this paper designed a DSP-minimum phase systems, power supply module, clock module, PC104 bus module, as well as dual-port RAM-based high-speed communication interface circuit, completed with a high-speed data processing and efficient communications capabilities, including high integration and high reliability for AUV embedded control system hardware design.This paper established the coordinate system and the 5-DOF motion model of AUV, it designed neural network power law index of Reaching Law Sliding Mode Controller and Fuzzy Reaching Law Sliding Mode Controller. This article simulated position control and speed control for the situations of the deep-sea hydrostatic and currents.For deep-sea currents hydrostatic and two cases of underwater robots simply synovial variable structure control method and quadratic optimization Design of neural network sliding-mode power sub-index reaching law control method were compared with simulation results show that designed to improve this paper greatly weakened synovial controller chattering, good control effect. |
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