国产欧美精品一区二区,中文字幕专区在线亚洲,国产精品美女网站在线观看,艾秋果冻传媒2021精品,在线免费一区二区,久久久久久青草大香综合精品,日韩美aaa特级毛片,欧美成人精品午夜免费影视

In order to improve the generality of motion control layer in UUV distributed control system architecture, a general motion control layer architecture based on embedded system STM32 is designed according to the principles of distributed computing and modular design. The hardware circuit design which is based on STM32F407ZGT6 microcontroller chip supports two CAN bus for inter layer communication and thruster control, outputs 4-way PWM to control the steering engine, provides multi channels of RS232 and RS485 bus interface for data exchange with various sensors, and provides a non-volatile EEPROM with IIC interface to save some parameters. The software design realizes CAN bus data communication and conversion logic control from X rudder to cross rudder. The experimental results show that the design can complete the propulsion power control of UUV propeller and X rudder steering operation, and the CAN bus data communication at 1Mbps rate with the upper decision planning layer is realized. The results show that the design scheme achieves the design goal of motion control layer and realizes the universal design of UUV motion control layer.