【摘要】 船舶、海工平台等钢结构极易被海水锈蚀并附着一些污损物，这些污损物会严重影响结构性能，人工清理这些污损物危险且成本极高.针对以上问题设计一款水下清污机器人，利用多块STM32微控制器搭建上下位机，实现了电源管理、运动控制、信息采集等功能；并根据机器人运动特性，设计了单闭环和双闭环比例-积分-微分(proportional-integral-derivative, PID)控制器对机器人的转向角度、移动速度和毛刷转速进行精度控制；采用Python语言设计上位机软件实时监测机器人水下状态.试验结果表明：机器人的基本性能及控制系统的稳定性和可靠性.更多还原

【Abstract】 Steel structures such as ships and offshore platforms are easily corroded by seawater and attached with some dirt, which will seriously affect the structural performance, and manual cleaning of these dirt is dangerous and costly. To solve the above problems, an underwater cleaning robot is designed in this paper. According to its working characteristics and application scenarios, several STM32 microcontrollers are used to build upper and lower computers in hardware to realize the functions of power management, motion control, information acquisition and so on. According to the motion characteristics of the robot, single closed-loop and double closed-loop proportional integral derivative(PID) controllers are designed to accurately control the steering angle, moving speed and brush speed of the robot. The upper computer software is designed with Python language to monitor the underwater state of the robot in real time. Finally, the basic performance of the robot and the stability and reliability of the control system are verified by experiments.更多还原