Research On Control System Of UV Based On VxWorks

With more and more applications of underwater vehicle(UV), the information, integration, intelligentization, high precision become the targets of UV control system.We need a new control system platform,in order to execute the control tasks of complex system, because the traditional architecture is not meet the requirements of system capability. The thesis builds a UV control system platform based on embedded technology and develops the rapid control prototype.As the control system platform based on embedded technology, ARM microprocessor and the real-time operating system VxWorks are combined to use.It can remedy the defects of x86+DOS architecture, and suit the demands of real-time, reliability, compatibility to system. The importing of the VxWorks BSP and development of related hardware driver such as Serial port, Network port is completed. The executing process of VxWorks BSP and hardware developments which include interrupt timer and so on are discussed.At last the nodus and experiences about VxWorks BSP have been concluded.The Matlab/RTW tools are used in rapid control prototype. The thesis use RTW tool createing a real-time program which worked in VxWorks operating system successfully in a UV depth control system. It can also be inspected and debugged online.The thesis builds a platform which has the characters of real-time, reliability, compatibility suit to the UV's peculiarity, and studies the applications of rapid control prototype. The production will be important technical storage for next generation UV control system.