Simulation of underwater vehicle control based on code generation technology

Abstract

Model-based design is an effective means for rapid development of embedded software, and automatic code generation is an important technology for model-based development. Combining the automatic code generation method of Matlab and STM32 with the operation and control of the autonomous underwater robot makes the design of the system more convenient. Use tools such as the Simulink library STM32 MAT/Target and STM32 CubeMX of the STM32 microcontroller to realize the automatic generation of readable and portable C code project files. At the same time, based on the design of the model, the control code of the autonomous underwater robot(AUV) is automatically generated, and the control code is added to the automatically generated C code project file. With Matlab/Simulink as the basic software platform, the motion controller of AUV is mounted on the STM32F407, and a real-time simulation system for the closed-loop control of AUV manipulation motion is constructed. The results of the semiphysical real-time simulation test show that the AUV motion controller has good heading depth control performance, realizes the manipulation and control of AUV, and verifies the practicability of the automatically generated code.