张光义, 曾庆军, 戴晓强, 朱春磊, 凌宏杰. 水下安全检测与作业型机器人控制系统[J]. 中国舰船研究, 2018, 13(6): 113-119. DOI: 10.19693/j.issn.1673-3185.01167
引用本文: 张光义, 曾庆军, 戴晓强, 朱春磊, 凌宏杰. 水下安全检测与作业型机器人控制系统[J]. 中国舰船研究, 2018, 13(6): 113-119. DOI: 10.19693/j.issn.1673-3185.01167
ZHANG Guangyi, ZENG Qingjun, DAI Xiaoqiang, ZHU Chunlei, LING Hongjie. Control system of ROV for underwater safety inspection and operation[J]. Chinese Journal of Ship Research, 2018, 13(6): 113-119. DOI: 10.19693/j.issn.1673-3185.01167
Citation: ZHANG Guangyi, ZENG Qingjun, DAI Xiaoqiang, ZHU Chunlei, LING Hongjie. Control system of ROV for underwater safety inspection and operation[J]. Chinese Journal of Ship Research, 2018, 13(6): 113-119. DOI: 10.19693/j.issn.1673-3185.01167

水下安全检测与作业型机器人控制系统

Control system of ROV for underwater safety inspection and operation

  • 摘要:
      目的  针对船体、大坝、水下钢结构等表面附着物的安全检测,以及附着物清除作业的要求,需要研制一款新型水下安全检测和作业型带缆遥控水下机器人(ROV)。此类ROV需针对不同作业任务更换机械手,实现抓取、切割的功能,从而保证去除结构物上的附着物。
      方法  阐述水下安全检测和作业型机器人的整套系统组成及原理。该系统以Arduino单片机为控制面板信号采集工具、以水面监控系统开发工控机为平台,零浮力脐带缆以2对双绞线、1对电源线为信号电力传输线,水下控制系统以ARM嵌入式为主控单元。建立ROV动力学模型,设计ROV艏向控制的广义预测控制器。经过系统调试,进行水池试验和湖上试验。
      结果  试验证明,该系统运行正常,整套控制系统的稳定性、可靠性、实时性均达到设计要求,满足水下安全检测及作业要求。
      结论  该系统设计方案和控制算法对于其他水下机器人的控制系统研究均有借鉴意义。

     

    Abstract:
      Objectives  In order to achieve safety inspections for surface attachments on hulls, dams and underwater steel structures according to the requirements of removing attachments, a new Remotely Operated Vehicle(ROV) equipped with cables for underwater safety inspection and operation is developed. This type of ROV uses different manipulators for different tasks to achieve the function of gripping and cutting, so as to ensure the removal of the attachments on the structure.
      Methods  Here we describe the composition and principles of a control system of the ROV for underwater safety inspection and operation; this control system uses Arduino microcontroller as a control panel signal acquisition tool, industrial personal computer as a platform of the water surface monitoring system, zero buoyancy umbilical cable consisting of two pairs of twisted pairs and a pair of power cables as the means of the signal power transmission, and ARM embedded underwater control system as the main control unit; we establish the ROV dynamics model, and design the Generalized Predictive Controller(GPC)of ROV heading control.
      Results  The commissioned system is normal; tank test and lake test in Qiandao Lake prove that the stability, reliability and real-time performance of the entire control system meet the design requirements and the requirements of underwater safety inspection and operation.
      Conclusions  The design scheme and control algorithm of this system can provide reference for the control system of other ROVs.

     

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