Unmanned Remote Control Boat Underwater Acoustic Data Acquisition And Movement Control System Research And Design

With the fast development of the ship automation and wireless communication technology, autopilots system is greatly regarded. A system of anonymous ship autopilot is introduced in the paper. The design integrated acoustic data acquisition function into autopilot for ship. which is distinguished from single acoustic data acquisition system and ship motion control system. Compared with traditional acoustic signal transmission ,the function of acoustic data acquisition is realized by wireless remote transmission in the form of electronic signal. It features on high sample accuracy, wide measure dynamic scope, the primitive data transmission in real time. Autopilot for ships is remotely controlled by a PC in a depot ship and is self-propelled by DC motors. In the system, a PC/104 computer served as the hardware platform ,and designs the data acquisition card and ship controllers to work together with embedded PC, to realize acoustic data acquisition function and ship automatic drive. A HMR 3300 digital compass made by Honeywell Company and a GPS system are used to measure heading and positioning respectively. In the data acquisition subsystem, a high speed MCU is treated as controlling core, not only responsible for receive to come from the remote control instruction and change A/D, PGA work mode; At the same time, the MCU is responsible for data transformation , and give signal to inform embedded PC get the final data. In the motion control subsystem, a DSP based on electromotor control is treated as controlling core, not only responsible for receive to come from the remote control instruction of depot ship and change rudder ,screw propeller; At the same time, the DSP is responsible for the realization of parameters self-turning fuzzy PD control.