无人船下位机控制系统框图如图2-2所示。无人船下位机主控制中心采用高性

The block diagram of the unmanned ship's lower computer control system is shown in Figure 2-2. The main control center of the unmanned ship's lower computer uses a high-performance low-power S3C2440 microprocessor as the main control chip. In order to ensure the stability of the system, this design directly uses an ARM9 integrated control board based on the microprocessor S3C2440 as the lower computer Main control center, and conduct related research and testing work. At the same time, an STM32 integrated control board based on the STM32F103VCT6 processor is used. The STM32 integrated control board is mainly used as the drive control center, which mainly completes the control of unmanned boat motion control and information collection. The main control center of the lower computer communicates with the drive through serial communication The control center communicates and collects and communicates relevant data and information. The STM32 integrated control board is mainly responsible for the collection of multi-sensor information, and controls the operation of the digital gear control board of the driver of the unmanned ship. It sends different high and low levels through the I / O port to control the opening and closing of the relay, thereby controlling the According to different gears, the gear position of the man-ship driver can realize the selection of the forward gear and the backward gear of the unmanned boat.

The unmanned ship subposition control system frame is shown in Figure 2-2. The main control center of the unmanned ship lower-position machine adopts the high-performance low-power S3C2440 microprocessor as the main control chip, in order to ensure the stability of the system, the design directly adopts an ARM9 integrated control board based on the microprocessor S3C2440 as the main control center of the lower machine, and carries on the relevant research and testwork. At the same time, the use of a STM32 integrated control board based on the STM32F103VCT6 processor, STM32 integrated control board mainly as a drive control center, mainly to complete the control of the unmanned ship motion control and information acquisition and other work, the lower machine control center through serial communication and drive control center communication, and related data information collection and communication. STM32 integrated control board is mainly responsible for the collection of multi-sensor information, and control the work of the unmanned ship's driver digital gear control board, through the I/O port to send different high and low levels, control the opening and closing of relays, so as to control the unmanned ship drive gear, according to different gears, can achieve the choice of the forward and back gears of the unmanned ship.

Figure 2-2 shows the block diagram of the control system of the lower machine of the unmanned vessel. In order to ensure the stability of the system, this design directly uses an ARM9 integrated control board based on the microprocessor S3C2440 as the main control center of the UAV, and carries out the related research and test work. At the same time, a STM32 integrated control board based on STM32F103VCT6 processor is adopted. The STM32 integrated control board is mainly used as the driving control center, which mainly completes the control of the motion control and information collection of the unmanned vessel. The main control center of the lower computer communicates with the driving control center through serial communication, and carries out relevant data information collection and communication. STM32 integrated control board is mainly responsible for the collection of multi-channel sensor information and the control of the digital gear control board of the driver of the unmanned vessel. It sends different high and low levels through the I / O port and controls the opening and closing of the relay, so as to control the gear of the driver of the unmanned vessel. According to different gears, it can realize the selection of forward gear and backward gear of the unmanned vessel.<br>