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Research on the Control System Structure and Heading Control Technique of "Hello Ⅰ" ROV

Author: WangYuZuo
Tutor: XieYingJun
School: Zhejiang University
Course: Mechanical and Electronic Engineering
Keywords: Underwater Robot Control system Communicate Heading Closed-loop control
CLC: TP242.3
Type: Master's thesis
Year: 2012
Downloads: 26
Quote: 0
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Abstract


Rich in marine resources, is a valuable asset for sustainable human development. China has a vast area, huge reserves of resources, development, and use of marine resources benefits the country. With the development of science and technology and ocean development process to speed up, to explore underwater unknown environment and perform specific underwater operations tasks underwater robotics research has become the current development hotspot. In this context, this paper Conch type observation type underwater robot (ROV), ROV control systems and ROV bow to the control technology. Developed a suitable type Conch observation type ROV hardware and software control systems and ROV bow to the closed-loop control. Text divided into six chapters: the first chapter introduces the research background, development and status of research at home and abroad, the ROV motion control method, the purpose and significance of the research, as well as the paper's overall structure and content. The second chapter describes the \\And its kinetic model, the establishment of the kinetic model of the ROV. The main content of the third chapter of the the observation type ROV control system of the conch-type \The two parts of the entire control system including a host computer system, the next crew system. Details the host computer system hardware components and software development; ECU hardware circuit design and software design lower machine system. The fourth chapter describes the type Conch observation type ROV sensing and communication system. Used in each of the sensors on the ROV. The communication system includes a data communication and image information and communication: data communication using RS485 serial digital communication, using own written communication protocol; image information using a coaxial cable network passed. Chapter ROV bow to the control technology. The first establish ROV bow to the transfer function of the closed-loop control system based PID control algorithm and Simulink simulation, the design of the control performance and adjust the control parameters for heading to the closed-loop PID controller, the last verified through test controller. After experimental verification, the method used to bow to the closed-loop control of ROV. Chapter VI for a summary of the full text as well as the outlook for the next step.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Dedicated robot
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