计算机工程与应用2018，Vol.54Issue(9)：265-270,6.DOI:10.3778/j.issn.1002-8331.1611-0434
高性能无人帆船软硬件设计
Hardware and software design of high performance autonomous sail-boat control system
摘要
Abstract
An autonomous sailboat control system is developed based on PC/104 and ARM for motion control precisely. The functions of ARM collect multiple real-time signals from individual sensors simultaneously,delivering the data to PC/104. And the PC/104 process the original data from ARM through algorithm, give order series to ARM at particular periods, and then ARM can produce Pulse Width Modulation and high or low level signal to motivate the actuators.PC/104 is cho-sen to be the central processing unit because of small size,high reliability and real-time performance.Wireless communi-cation network whose frequency spectrum ranges 5 GHz provides a promising speed as well as less interruption.A control algorithm is programmed and embedded in the control system.Then experiments which differ the environmental parame-ters are carried out in the lake in Shanghai Jiao Tong University.Results indicate that the effects of control are excellent. Since the control system can be transplanted and extended conveniently,it can be an amazing test bed reference to autono-mous sailboat control research,saving a lot of time.It can also be applied to execute different tasks which features a super long cruising distance and compound propulsion at sea with related modules installed correctly and software designed.关键词
PC/104/ARM处理器/无人帆船/运动控制/软件设计/硬件设计Key words
PC/104/ARM/autonomous sailboat/motion control/software design/hardware design分类
交通工程引用本文复制引用
罗潇,刘旌扬,王健,张裕芳,易宏..高性能无人帆船软硬件设计[J].计算机工程与应用,2018,54(9):265-270,6.基金项目
上海交通大学海洋工程国家重点实验室自主研究课题(No.GKZD010061). （No.GKZD010061）
