基于嵌入式系统STM32的UUV通用运动控制层设计

Universal Design of Motion Control Layer in UUV Based on STM32

摘要:

为提高UUV分布式控制系统架构中运动控制层的通用性，依据分布式计算和模块化设计的原则，设计了一种基于嵌入式系统STM32的通用运动控制层架构。硬件电路设计以STM32F407ZGT6型芯片为核心微控制器，支持两路CAN总线进行层间通信和推进器控制，输出4路PWM进行舵机控制，对外提供多路RS232和RS485总线接口与各种传感器进行数据交互，并设计了一片IIC接口的掉电非易失EEPROM进行参数保存。软件设计实现CAN总线数据通信和X舵到十字舵的转换逻辑控制。经实验测试，该设计方案能够完成UUV的推进器推进功率控制和X舵的上下左右转向打舵控制，实现了与上层决策规划层进行1Mbps速率的CAN总线数据通信。结果表明，该设计方案达到了运动控制层的设计目标，实现了具有较强通用性的UUV运动控制层设计。

Abstract:

In order to improve the generality of motion control layer in UUV distributed control system architecture, a general motion control layer architecture based on embedded system STM32 is designed according to the principles of distributed computing and modular design. The hardware circuit design which is based on STM32F407ZGT6 microcontroller chip supports two CAN bus for inter layer communication and thruster control, outputs 4-way PWM to control the steering engine, provides multi channels of RS232 and RS485 bus interface for data exchange with various sensors, and provides a non-volatile EEPROM with IIC interface to save some parameters. The software design realizes CAN bus data communication and conversion logic control from X rudder to cross rudder. The experimental results show that the design can complete the propulsion power control of UUV propeller and X rudder steering operation, and the CAN bus data communication at 1Mbps rate with the upper decision planning layer is realized. The results show that the design scheme achieves the design goal of motion control layer and realizes the universal design of UUV motion control layer.