摘  要：提出了一种基于VxWorks实时操作系统和AT91RM9200的自主水下航行器电动舵机控制器的设计，给出了整体框架、硬件电路图和软件模块设计。采用高精度传感器，模糊PID算法以及双闭环反馈控制，该系统在测试中各项指标参数均达到预期效果，运行稳定可靠。
关键词：自主水下航行器；电动舵机；VxWorks；ARM；AT91RM9200

Abstract: This paper presented a type of Autonomous Underwater Vehicle(AUV)digital servo controller based on VxWorks RTOS and AT91RM9200,and showed the general structure design,principle of hardware and software module in detail.With the adoption of super precision sensor,fuzzy PID algorithm,and dual closed loop control system,this controller has a perfect performance in the test.
Key Words:AUV；Electric Servo；VxWorks；ARM；AT91RM9200