中国舰船研究2017，Vol.12Issue(2)：124-132,9.DOI:10.3969/j.issn.1673-3185.2017.02.016
腹部作业型水下机器人控制系统研制
Development of control system in abdominal operating ROV
张玮康 1王冠学 1徐国华 1刘畅 1申雄2
作者信息
- 1. 华中科技大学船舶与海洋工程学院,湖北武汉430074
- 2. 武汉第二船舶设计研究所,湖北武汉430205
- 折叠
摘要
Abstract
In order to satisfy all the requirements of Unmanned Underwater Vehicle(UUV)recovery tasks, a new type of abdominal operating Remote Operated Vehicle(ROV) was developed. The abdominal operating ROV is different from the general ROV which works by a manipulator, as it completes the docking and recovery tasks of UUVs with its abdominal operating mechanism. In this paper, the system composition and principles of the abdominal operating ROV are presented. We then propose a framework for a control system in which the integrated industrial reinforced computer acts as a surface monitor unit, while the PC104 embedded industrial computer acts as the underwater master control unit and the other drive boards act as the driver unit. In addition, the dynamics model and a robust H-infinity controller for automatic orientation in the horizontal plane were designed and built. Single tests, system tests and underwater tests show that this control system has good real-time performance and reliability, and it can complete the recovery task of a UUV. The presented structure and algorithm could have reference significance to the control system development of mobile robots, drones, and biomimetic robot.关键词
腹部作业型水下遥控机器人/控制系统/PC104/H∞鲁棒控制Key words
abdominal operating ROV/control system/PC104/H-infinity robust control分类
交通工程引用本文复制引用
张玮康,王冠学,徐国华,刘畅,申雄..腹部作业型水下机器人控制系统研制[J].中国舰船研究,2017,12(2):124-132,9.
