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题名: 基于旋转推进器的水下机器人控制器软件平台设计与实现
其他题名: Design and Implementation of Controller Software Platform of Underwater Vehicle based on Rotating Thruster
作者: 侯佳
导师: 李硕
分类号: TP242
关键词: 旋转推进器 ; 控制系统 ; 嵌入式Linux ; 设备驱动
索取号: TP242/H45/2010
学位专业: 控制理论与控制工程
学位类别: 硕士
答辩日期: 2010-06-03
授予单位: 中国科学院沈阳自动化研究所
学位授予地点: 中国科学院沈阳自动化研究所
作者部门: 水下机器人技术研究室
中文摘要: 基于可旋转推进器技术的水下机器人与传统水下机器人相比,其仅需要2个推进器和相应的旋转机构,就可以实现水下机器人的进退、潜浮、转向、横滚4个自由度的运动,并且还可实现悬浮模式,提高了水下机器人的运动灵活性和推进器的工作效率,延长了水下机器人在水下的航行工作时间,非常适合于海洋环境下的勘测工作。因此,研究可旋转推进器在水下机器人上的应用具有重要意义。 本文以实现基于可旋转推进器的水下机器人控制器为目的,设计并实现一套完整的水下机器人控制器软硬件方案,实现控制器软硬件运行工作环境,以便今后进一步验证有关的控制算法。机器人控制器硬件上考虑到试验平台对控制器的低功耗要求,采用了以Atmel公司At91rm9200 ARM处理器为核心的EBD9200-I嵌入式开发板。软件上采用了目前嵌入式领域应用非常热门的linux操作系统,并完成了相关硬件设备驱动程序的设计与编写。 第1章在论述本文的研究目的和意义后,分别介绍了旋转推进器水下机器人国内外研究现状,并对linux操作系统在水下机器人领域的应用做了简要综述。第2章概述了基于可旋转推进器技术的水下机器人控制系统,完成了机器人控制器的硬件方案设计,分析了其控制系统的软件结构。第3章介绍了控制器上电启动时运行的第一个程序——启动加载程序的基本概念,完成了U-Boot在控制器上的移植设计工作。第4章介绍了控制器系统软件平台中Linux操作系统的移植和根文件系统的构造,从而实现了控制器从硬件到操作系统的正常启动。第5章主要讲述了Linux操作系统下驱动程序的设计,完成了可旋转推进器水下机器人试验平台所需的CAN总线驱动、SPI总线驱动及串口驱动程序的设计。第6章对所设计的各软件模块分别进行功能和可靠性实验验证。 试验平台的测试表明,本文设计的控制器软件平台能够可靠稳定工作,为下一步旋转推进器技术在水下机器人上的应用研究奠定了良好的基础。
英文摘要: Compared to the traditional underwater vehicle, the vehicle with only two thruster units and the corresponding rotating structure, which is named here as rotating thruster underwater vehicle, can achieve the hoving motion and the 4 degrees of freedom motion: forward/backward, rising/diving, yawing, rolling. By this technology the vehicle can evidently improve its flexibility and maneuverability, enhance the thruster’s efficiency, and meantime prolong the working time. The rotating thruster underwater vehicle is very suitable for the exploration and exploitation of the ocean development. Therefore, It is meaningful to research the rotating thruster’s technology in the underwater vehicle field. The aim of this article to design the hardware of the controller of the rotating thruster vehicle, to implement its software running platform, the control algorithm can be validated in the near future. The controller design is divided into two parts: software and hardware. According to the low power requirements of the experiment platform, the EBD9200-I embedded development board based on the atmel's At91rm9200 ARM processor is used in the controller hardware design. In the software design, embedded Linux operating system in the embedded field is used. And then the software design work covers the the design and archieving of the hardware driver. The 1st chapter briefly introduces the purpose and significance of study, then separately presents the overview of the rotating thruster vehicle research at home and abroad. Linux operating system applications in the underwater vehicle are also briefly reviewed. Chapter 2 first outlines the rotating thruster underwater vehicle’s control system, then completes the scheme design of the controller hardware, analysis the system software architecture of the controller. Chapter 3 describes the basic concept of boot loader that is the first running program when the controller is powered on, and developed the design of U-Boot porting to the controller. Chapter 4 introduces how to port the linux operating system and how to build the root file system. When this is done, then the controller could be normally entered into the operating system from hardware. Chapter 5 describes the process of the hardware drivers based on linux operating system. the CAN-bus, SPI-bus and UART serial driver have been tested, which are required in the rotating thruster underwater vehicle experiment platform. Finally in the chapter 6, the function and reliability of the software modules designed are separately verified. Platform tests indicate that the software environment for the controller designed in this paper can work reliablely and stably, it has built a good foundation for the application research of the rotating thruster technology used on the underwater vehicle.
语种: 中文
产权排序: 1
内容类型: 学位论文
URI标识: http://ir.sia.cn/handle/173321/9277
Appears in Collections:水下机器人研究室_学位论文

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