Abstract
AbstractIn 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.KeywordsUnderwater robotControl systemSTM32F407PID
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