Abstract
In recent years, due to the powerful ocean operation capabilities of underwater robots, it has been applied to numerous ocean exploration fields. An accurate and reliable control system is extremely important for the underwater robot to successfully complete the established tasks. So underwater robot control system based on STM32F407 is designed. On the basis of selecting suitable components, the hardware of the underwater robot control system is built. The software of the underwater robot control system is designed, and the robot control process is constructed. The motion control strategy of the underwater robot is designed based on PID control algorithm. The overall motion control scheme of the robot is designed as a closed-loop feedback control system. The actual underwater test is carried out on the underwater robot. The test results show that the control system designed in this paper can make the underwater robot accurately complete the movements of floating, diving, turning, forward and backward.
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Acknowledgement
This work is supported by Major Science and Technology Innovation Project of Shandong Province (2019JZZY020703), Science and Technology Support Plan for Youth Innovation in Universities of Shandong Province colleges, and universities (2019KJB014), Shandong Jiaotong University “Climbing” Research innovation Team Program (SDJTUC1805) and PhD start-up fund of Shandong Jiaotong University (BS201902018).
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Dongsheng, Z., Hao, W., zhiguang, G., lingyan, Z. (2022). Design of Underwater Robot Control System Based on STM32F407. In: Liu, Q., Liu, X., Chen, B., Zhang, Y., Peng, J. (eds) Proceedings of the 11th International Conference on Computer Engineering and Networks. Lecture Notes in Electrical Engineering, vol 808. Springer, Singapore. https://doi.org/10.1007/978-981-16-6554-7_135
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DOI: https://doi.org/10.1007/978-981-16-6554-7_135
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