The Research Of The Embedded System Of Pool Test Equipment Based On ARM9

With the development of science and technology,Human beings have entered the time of development and using of the Marine.In a variety of marine technology,the underwater robot which can complete a variety of operating makes the ocean development enter a new era.The Remote-controlled underwater robots(ROV) has been widely used in lots of areas of ocean development.The Pool Test Equipment is one of ROV.This paper has designed the embedded control system which is based on the ARM9 processor AT91RM9200 for the Pool Test EquipmentFirst,this paper relates the composition,function and significance of the Pool Test Equipment,the Architecture features and application prospects of ARM.Second,this paper relates the components of the Pool Test Equipment and the hardware design of the controller,including the detection part,communication part and control part.The detection part contains a depth sensor,a high frequency beacon,a low-frequency beacon and a posture sensor,the processor use I2C extend AD7992 to collect analog signal,use SPI extend GM8142 to get more serial;the communication part contains serial communication and network communication,the processor extends Ethemet by DM9161;the control part contains a main thruster,four lateral thrusters,a stepper motor and four solenoids,the processor use SPI extend AD5726 to output analog signal,and extend 16Mb FLASH and 64Mb SDRAM.Third,this paper relates the embedded software development process, including the processor startup code,interrupt process and debug interface.Fourth this paper makes a mathematical modeling for the Pool Test Equipment and makes some corresponding Simplification.Last,this paper designs a PID controller and makes a simulation experiment.It takes the advance of Small size and low power consumption to use the ARM processor as the controller of the Pool Test Equipment.Compared with the single-chip microcomputer,the AT91RM9200 processor which based on ARM9 has higher process speed and more peripheral interface.The embedded system will be a common control tool by extending keyboard,monitor and camera.