无人船的动力系统主要包括舵机的控制和档位的控制，舵机主要通过定对器ti

The power system of the unmanned ship mainly includes the control of the steering gear and the control of the gear. The steering gear mainly outputs the PWM signal through the aligner time3. The gear control uses a relay, and the high and low level output is controlled through the I / O port Opening and closing of the relay. In the program design, the D port of the microprocessor STM32F103VCT6 is used for program design, and the corresponding gear adjustment is performed according to the different character strings ch received through the serial port. Before receiving the new gear number, the gear clear command must be sent. It is about to set the I / O port related to the gear to zero operation, and then receive the new gear instruction, through the switch (ch) statement to achieve gear control.

The power system of the unmanned ship mainly includes the control of the rudder and the control of the gear, the rudder mainly uses the fixed-pair time3 to output the PWM signal, the gear control uses the relay, and controls the opening and closing of the relay by the High and Low level output of the I/O port. Program design, the use of microprocessor STM32F103VCT6 D port for program design, through the serial port according to the different strings received ch, the corresponding gear adjustment, before receiving the new gear, to send the gear clearance instructions, that is, the i/O port-related zero operation, and then in the receiving of the new gear refers to today, through the switch (ch) statement to achieve the control of the gear.

The power system of the unmanned vessel mainly includes the control of the steering gear and the control of the gear. The steering gear mainly outputs the PWM signal through the timer 3, and the gear control adopts the relay, which controls the opening and closing of the relay through the high and low level output through the I / O port. In the program design, the D port of microprocessor STM32F103VCT6 is used for the program design. According to the received different strings ch, the serial port performs the adjustment of the corresponding gear. Before receiving the new gear, the command to clear the gear should be sent, that is, the I / O port related to the gear is set to zero, and then the gear control is realized through the switch (CH) statement after receiving the new gear indication.<br>