| Seamor300水下机器人的通信与控制系统 |
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| 引用本文： | 朱大奇,余剑.Seamor300水下机器人的通信与控制系统[J].系统仿真技术,2012,8(1):46-50. |
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| 作者姓名： | 朱大奇 余剑 |
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| 作者单位： | 上海海事大学水下机器人与智能系统实验室,上海,201306 |
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| 基金项目： | 交通运输部基础研究资助项目（2011-329-810-440）; 上海海事大学基金资助项目（20110010） |
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| 摘 要： | 以Seamor300水下机器人为对象,研究水下机器人的通信协议和状态控制系统。控制技术是水下机器人研究的核心内容之一。Seamor300水下机器人通过RS485将机器人的运行状态的数据包传送到水面控制转换器,控制转换器再通过RS232与水面计算机实现通信;应用比例-积分-微分（PID）控制算法设计了水下机器人的状态控制系统,水池实验结果验证了控制算法的有效性。
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| 关 键 词： | 水下机器人 推进器 串口通信 比例-积分-微分（PID）算法 |
System Development of Communication and Control of Seamor300 Underwater Vehicle |
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| ZHU Daqi
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YU Jian.System Development of Communication and Control of Seamor300 Underwater Vehicle[J].System Simulation Technology,2012,8(1):46-50. |
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| Authors: | ZHU Daqi YU Jian |
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| Affiliation: | (Laboratory of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai 201306, China) |
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| Abstract: | Control technology of underwater vehicles is one of core content of research of robot.The Seamor300 underwater vehicle is studied in this paper,which researches communication protocol and state control system of Seamor300 underwater vehicles.The data of running-state of Seamor300 underwater vehicles are transmitted to transfer controller by using RS485 serial communication and then transfer controller communication with PC controller system by way of RS232.The control system of underwater vehicles was designed by the proportion-integral-derivative （PID） control algorithm.Results of the pool experiment verification effectiveness of control algorithm. |
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| Keywords: | underwater vehicle thruster serial communication proportion-integral-derivative （PID） algorithm |
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