基于ARM的数字式自动舵设计*

作者：封 浩1,熊远生2* 日期：2010-11-15/span> 浏览：3708 查看PDF文档

基于ARM的数字式自动舵设计*
封 浩1,熊远生2*

（1.浙江工业大学 信息工程学院，浙江 杭州 310032；2.嘉兴学院 机电工程学院，浙江 嘉兴 314001）

摘要：针对我国的自动操舵仪长期以来都是采用模拟技术设计的问题，介绍了一种以ARM为核心的数字式自动舵的模块化设计方法及相应实验结果。首先介绍了船舶运动控制的野本模型，分析了系统的控制原理，然后根据系统结构框图设计了各功能模块和程序流程图。系统的软硬件均采用模块化设计，自动航向控制策略采用PID控制。系统具有电子罗盘、电罗经、GPS等多种导航信号接口，具有手动、随动、自动等多种控制模式，预留了多种通讯接口，可方便地与其它设备连接。实验结果表明，该设计方案可行。
关键词：ARM；自动操舵仪；野本模型；模块化设计
中图分类号：TH134；U666.1
文献标识码：A文章编号：1001-4551(2010)09-0065-04

Design of digital autopilot based on ARM
FENG Hao1, XIONG Yuan sheng2
(1.College of Information Engineering, Zhejiang University of Technology, Hangzhou 310032, China;2.College of Mechanical & Electrical Engineering, Jiaxing University, Jiaxing 314001, China)
Abstract:Aiming at the problem of autopilot for a long time in our country using analog design technology, a modular design method for digital autopilot based on ARM was presented and the corresponding experimental results were given. Firstly, the nomoto model was introduced and the control principle of the system was analyzed. Then the main function modules were presented according to system diagram, as well as the software flow charts. Both hardware and software were realized in the design method of modularization structure, The PID control algorithm was used for the automatic heading control strategy. The system integrates a variety of navigation signal interfaces such as electronic compass, Gyro-compass and GPS. The system has a variety of control modes, including the manual control, servo control and automatic control. Additionally, various communication interfaces are reserved to provide convenience for connecting with other devices. The experiment results show that this design scheme is feasible.
Key words: ARM; autopilot; nomoto model; modular design