Study on the control system of a novel spherical underwater robot

Author

Yaxin Li ; Shuxiang Guo ; Chunfeng Yue

Author_Institution

Grad. Sch. of Eng., Kagawa Univ., Takamatsu, Japan

fYear

2015

fDate

2-5 Aug. 2015

Firstpage

2100

Lastpage

2105

Abstract

This paper presents the control system design for a novel spherical underwater robot (SUR). The two-level architecture control system is employed to realize sensor data collection, control algorithm realization, control command transmission, motor actuation and etc. TMS320F28335 and ATMEGA 2560 are taken as the master and slave processors respectively. Depth sensor and MEMS IMU are utilized to realize closed-loop control. In order to evaluate the response time and availability of the control system, the horizontal motion and vertical motion control experiment are carried out. Through these experiments, PID controller is used to control the servomotors. The experimental results show that the propulsion system can complete the action based on the direction controlling of the thruster.

Keywords

autonomous underwater vehicles; closed loop systems; control system synthesis; marine propulsion; micromechanical devices; mobile robots; motion control; servomotors; three-term control; ATMEGA 2560; MEMS IMU; PID controller; SUR; TMS320F28335; closed-loop control; control algorithm realization; control command transmission; depth sensor; horizontal motion control; motor actuation; propulsion system; sensor data collection; servomotors; spherical underwater robot; two-level architecture control system; vertical motion control; Control systems; Dynamics; Mathematical model; Propulsion; Robot sensing systems; Vehicle dynamics; Control system; MEMS IMU; Novel spherical underwater robot; Sensor data calibration;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2015 IEEE International Conference on

Conference_Location

Beijing

Print_ISBN

978-1-4799-7097-1

Type

conf

DOI

10.1109/ICMA.2015.7237810

Filename

7237810