中圖分類號(hào)： TP391.9 文獻(xiàn)標(biāo)識(shí)碼： A DOI：10.16157/j.issn.0258-7998.211557 中文引用格式： 任福深，王茜,，劉均,，等. 基于STM32兩軸深水觀測(cè)云臺(tái)控制系統(tǒng)設(shè)計(jì)[J].電子技術(shù)應(yīng)用，2021,，47(8)：110-115. 英文引用格式： Ren Fushen,，Wang Xi,，Liu Jun,，et al. Design of PTZ control system based on STM32 two-axis deep water observation[J]. Application of Electronic Technique，2021,，47(8)：110-115.
Design of PTZ control system based on STM32 two-axis deep water observation
Ren Fushen1,，Wang Xi1,，Liu Jun1，Zhang Yuan2
1.School of Mechanical Science and Engineering,，Northeast Petroleum University,，Daqing 163318，China,； 2.Shaanxi Anran Energy Technology Co.,，Ltd.，Xi′an 710000,，China
Abstract： With the deepening of research on underwater robots in the field of marine energy exploration, they need to use the PTZ to monitor the underwater environment in real time to ensure safe and efficient operations. Therefore, a two-degree-of-freedom deep-water observation PTZ and its control system based on the STM32 main control board are designed. FreeRTOS to divide the application into multiple tasks with different priorities and allocate CPU system resources reasonably. RS485 is used to realize the communication between the PTZ and the upper computer. The upper computer sends control commands to the lower computer of the PTZ according to the Modbus two-way communication protocol. While realizing the rotation of the two-axis pan/tilt motor, the upper computer receives the detected data in real time. The PID algorithm is used to control the rotation angle of the PTZ. By analyzing the experimental results, the system can achieve two-degree-of-freedom control of the PTZ and the collection of high-quality pictures and videos.
Key words : two degrees of freedom head,；STM32；control system,；ROV,；FreeRTOS
