Study on the control system of a novel spherical underwater robot

摘要

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.