Research On The Application Of Arm In The Ethernet-based Auv Motion Control Unit

Oil and gas resources in the deep sea usually located in the complex geological structure of the sea, the exploration and production of which would be very difficult, and Autonomous Underwater Vehicle with automatic control capability can complete the survey task well, which is equipped with related equipments. Relied on the deep sea AUV, the dynamic model of the system is studied through kinematic equations and dynamic equations, and a general method to obtain state equations and transfer functions is summed up by obtaining perturbation equations and linearing them under the steady state. Its control loop is analyzed in time and frequency domain, and a PID controller is designed with Ziegler-Nichols method based on proposing control strategies of this AUV and setting the typical system transfer function. According to the limitation problem of the PID controller parameters tuning, an improved fuzzy adaptive PID controller is designed, which achieve a good simulation result. Finally, the obstacle avoidance plan of this AUV is proposed.A kind of AUV multi-node control system structure based on star Ethernet topology is put forward, and its motion control unit is designed with ARM7, on which real-time operating systemμC/OS-Ⅱis transplanted. The program of RS232, RS485 serial communication and TCP, UDP network communication is coded, and the software of relevant control algorithms is realized, and the embedded WEB server of this unit is built based on ARM. According to these, the overall software of the motion control unit is planned and designed with multi-task programming method.Each communication module of the designed motion control unit is tested, and the reliability tests of long time joint communication are carried out in the simulation experiments in which this unit is placed into the whole control system. Good results not only verify that the motion control unit have the communication function needed, but also demonstrate data transmission reliability and the feasibility of the overall control system of this AUV.