Abstract: An autonomous sailboat control system is developed based on PC/104 and ARM for motion control precisely. The functions of ARM collect multiple real-time signals from individual sensors simultaneously, delivering the data to PC/104. And the PC/104 process the original data from ARM through algorithm, give order series to ARM at particular periods, and then ARM can produce Pulse Width Modulation and high or low level signal to motivate the actuators. PC/104 is chosen to be the central processing unit because of small size, high reliability and real-time performance. Wireless communication network whose frequency spectrum ranges 5 GHz provides a promising speed as well as less interruption. A control algorithm is programmed and embedded in the control system. Then experiments which differ the environmental parameters are carried out in the lake in Shanghai Jiao Tong University. Results indicate that the effects of control are excellent. Since the control system can be transplanted and extended conveniently, it can be an amazing test bed reference to autonomous sailboat control research, saving a lot of time. It can also be applied to execute different tasks which features a super long cruising distance and compound propulsion at sea with related modules installed correctly and software designed.

Key words: PC/104, ARM, autonomous sailboat, motion control, software design, hardware design

摘要： 设计了一套基于嵌入式系统PC/104和ARM微处理器的无人帆船控制系统，该系统可实时采集无人帆船运动控制所需多路传感器信号，经处理后生成运动控制序列指令，由ARM产生PWM信号或者高低电平信号，驱动执行器动作，完成无人帆船运动的精确控制。采用PC/104作为中央处理器，可有效节省布置空间，保证较高的可靠性和实时性，优于当前普遍使用的无人帆船控制系统。采用5 GHz无线路由器构建局域网，覆盖范围广，信道纯净，干扰较少。结果表明，该控制系统能够达到良好的运动控制效果。且该套系统具备高度可移植性和扩展性，可作为无人帆船控制实验平台的参考，也可实用化为海上超长航程复合任务平台。

关键词: PC/104, ARM处理器, 无人帆船, 运动控制, 软件设计, 硬件设计