Design and implementation of Modbus UDP based AUV control system

Xing Yu; Wenyang Gan; Zhenzhong Chu

doi:10.1117/12.3010994

1 December 2023 Design and implementation of Modbus UDP based AUV control system

Xing Yu, Wenyang Gan, Zhenzhong Chu

Proceedings Volume 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023); 1294014 (2023) https://doi.org/10.1117/12.3010994
Event: Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 2023, Sipsongpanna, China

Abstract

Underwater vehicles have highly non-linear, strongly coupled, multi-degree-of-freedom and time-varying dynamics models, and work in complex environments that require a high degree of adaptivity. Its motion control has always been a very complex challenge. In order to solve the complex communication methods of the traditional Modbus TCP, The three handshakes during TCP protocol data transfer incur unnecessary time expenses, while solving the core problems such as improving controller performance. Based on the original Modbus TCP, the Modbus UDP communication method is proposed to provide an efficient and readable communication mechanism for underwater vehicle communication, which is more effective in sending commands and obtaining feedback to the main control board of the lower computer. It also uses QT to design a display interface that is easy to listen to downstream data and display feedback data. The proposed Modbus UDP communication method is experimentally verified in an AUV (Autonomous Underwater Vehicle), and through the verification, it is concluded that the communication method is reliable, readable, easy to implement and highly portable, demonstrating the applicability and effectiveness of the improved Modbus UDP communication method for AUV control.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Xing Yu, Wenyang Gan, and Zhenzhong Chu "Design and implementation of Modbus UDP based AUV control system", Proc. SPIE 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 1294014 (1 December 2023); https://doi.org/10.1117/12.3010994

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