摘要随着中国在自动控制技术领域的迅速发展，自动化技术已经普及到全国的各个领域 和行业。自主水下航行器 AUV 也是自动控制技术的重要发展成果之一。在中国这片这辽 阔富饶的海域里，拥有丰富海洋能源和矿产资源。随着工业化和城市化，人们对有效利 用海洋空间越来越重视，21 世纪可以说是人类进一步海洋的世纪。近年来兴起的下自 主航行器逐渐成为发展的主流、人们利用其开发海洋、探索海洋变得更为简单和便捷， 使其得到了极大的关注。而自主水下航行器 AUV 在未来将变得更加智能化和小型化，不 仅是民用 AUV 还是军用 AUV 都将逐步完善和进入市场，不断满足市场对该技术的需求。84425

本文主要介绍自主水下航行器AUV 的研究设计背景与现状以及 AUV 各模块的工作原 理，硬件以及软件的设计。本文根据设计指标首先对自主水下航行器水下部分做出总体 设计，包括对自主水下航行器的结构、功能以及各个模块的布局做出设计。然后针对自 主水下航行器水下部分的控制系统硬件做出模块化的设计，经过对比和选型，水下自主 航行器水下部分控制系统的主控单元主要由数字信号处理器 DSP 和实现各部分功能的 模块电路组成，数字信号处理器 DSP 采用 TMS320F28335 的型号，此芯片能够快速有效 地处理自主水下航行器所检测的数据并向各模块电路发送信号，实时调整和控制自主水 下航行器的运行姿态，使其能够准确无误地实现上位机下达给它的各种任务和指令。各 模块电路包括湿度检测模块、GPS 定位模块、电源检测模块，摄像头模块，深度检测模 块、无线模块和电机驱动模块。本文将对各模块的电路的设计和功能进行详细介绍并对 部分硬件电路进行模拟实验和测试。接着本文将对自主水下航行器的软件系统做详细的 介绍，包括软件系统的总体构架、推进器控制算法、分段式 PID 控制算法、以及主控系 统的软件进行设计并做出详细的介绍。最后，我们将通过模拟实验对设计的水下自主航 行器的水下部分进行测试，以及对本控制系统的电机驱动部分进行试验。实验表明，AUV 硬件系统能够可靠运行，结合上位机的检测，能够达到预期要求。最后本文将对自主水 下航行器做出总结并展望。

毕业论文关键词：AUV DSP 硬件系统 模块电路

Abstract With the rapid development of China in the field of automatic control technology, automation technology has been widely used in various fields and industries。 Autonomous Underwater Vehicle AUV is one of the important achievements in the development of automatic control technology。 In this vast and rich sea of China, there are abundant marine energy and mineral resources。 With the industrialization and urbanization, people pay more and more attention to the effective use of the ocean space。 In twenty-first Century, it can be said to be the century of human further sea。 In recent years, the rise of  the autonomous vehicle has gradually become the mainstream of development, people use it to develop the ocean, to explore the ocean has become more simple and convenient, so that it has been a great concern。 The autonomous underwater vehicle AUV in the future will become more intelligent and miniaturization, not only civilian AUV or military AUV will  gradually improve and enter the market, and constantly meet the needs of the market for  the technology。

This paper mainly introduces the design background and current situation  of  the research and design of AUV and the working principle, hardware and software design of AUV module。 In this paper, according to the design index, the overall design of the underwater part of the autonomous underwater vehicle is made, including the structure, function and the layout of each module of the autonomous underwater vehicle。 Then for autonomous underwater navigation water part of the hardware of the control system make modular design。 After comparison and selection, underwater autonomous navigation main control unit of the underwater part of the control system is mainly composed of a  digital signal processor (DSP) and realize the function of each part of the module circuit, digital signal processor DSP TMS320F28335 models, this chip can quickly and efficiently handle autonomous underwater navigation is the detected data and circuit to send a signal to the each module, real time adjustment and control of autonomous underwater under sail running posture, which can accurately correct realize PC issued to its various tasks and instructions。 Each module circuit comprises a humidity detection module, a GPS positioning module, a power detection module, a camera module, a depth detection module, a wireless module   and