曾庆祥
（Cheng Siong Chin）
英国纽卡斯尔大学新加坡分校（Newcastle University in Singapore）系统建模与设计专业副教授，中国重庆大学机械与运载工程学院客座教授，英国高等教育学会会士、IMarEST会士、IEEE和IET高级成员。曾就职于ST-Electronics 、Seagate、Soil Machine Dynamics（SMD）、Xylem、Global Foundries、SembCorp Marine、POSH等国际知名公司，长期从事机器人、海洋工程、能源系统和声学等领域智能系统建模和复杂系统仿真的研究，取得丰硕成果。

工业机器、汽车、飞机、机器人和机械装置上都可能使用嵌入式系统。本书研究了远程控制的水下航行器（ROV），特别是水下机器人航行器（URV），它们具有广泛的应用，比如用于海洋探索、环境监测以及为极 端环境中的行动提供支持。
书中详细阐述了嵌入式系统的设计、开发方法，从zui初的概念（机械和电气）到建模和仿真（数学关系），再到创建图形用户界面（软件）及其实际执行（机电一体化系统测试），从而实现对机器人航行器的控制，为使用标准PC硬件（包括Linux、Raspbian、ARDUINO和MATLAB xPC-Target）的实时系统的原型开发、仿真、测试和设计提出新的解决方案。

译者序
前言
致谢
第 1 章 绪论 ····························· 1
1.1 嵌入式系统概述 ························· 1
1.2 基于 Athena III PC104 的嵌入式
系统示例 ·································· 2
1.3 基于 ARDUINO 的嵌入式系统
示例 ········································ 3
1.4 基于树莓派的嵌入式系统示例 ······· 5
1.5 基于 PIC 的嵌入式系统示例 ·········· 5
1.6 动机 ········································ 6
1.7 嵌入式系统原型的系统设计方法 ···· 8
参考文献 ······································· 11
第 2 章 基于 Linux 的嵌入式系统
设计 ····························13
2.1 Linux 操作系统 ·························13
2.2 为嵌入式系统构建 Linux 环境 ·······15
2.3 Linux 中的程序设计 ···················20
2.4 系统设计与架构 ························21
2.4.1 主进程设计 ·······················23
2.4.2 传感器进程设计 ··················27
2.4.3 传感器融合线程设计 ············28
2.4.4 控制进程设计·····················31
2.4.5 执行器驱动程序设计 ············31
2.4.6 网络通信线程设计 ···············32
2.5 控制系统组件的测试 ··················33
2.5.1 惯性测量单元·····················33
2.5.2 DVL 传感器单元 ·················38
2.5.3 图像视频单元·····················41
2.5.4 深度传感器单元 ··················44
2.6 卡尔曼滤波器 ···························46
2.7 图形用户界面 ···························49
参考文献 ·······································53
第 3 章 嵌入式水下航行器系统的
建模与仿真 ···················54
3.1 概述 ·······································54
3.2 ROV 概览 ································54
3.3 ROV 动力学建模 ·······················55
3.3.1 水动力阻尼模型 ··················57
3.3.2 水动力附加质量模型 ············62
3.4 实验结果验证 ···························66
3.4.1 升沉模型辨识·····················66
3.4.2 偏航模型辨识·····················69
3.5 ROV 模型仿真 ··························73
3.6 仿真 ROV 模型的外部扰动 ··········78
3.7 布放和回收过程模型 ··················80
3.8 控制系统设计 ···························81
3.8.1 滑模控制 ··························82
3.8.2 面向 SMC 的模糊遗传算法 ····83
3.8.3 PID 方法 ···························90
3.9 ROV 海上实验 ··························