ARV水下机器人水面操作控制系统设计  

Surface Control System Design of ARV Underwater Vehicle

作　　者：顾诚诚[1] 朱大奇[1] 陈晓卿[2] 

机构地区：[1]上海海事大学水下机器人与智能系统实验室,上海201306 [2]华东理工大学机械与动力工程学院,上海200237

出　　处：《系统仿真技术》2014年第2期140-145,164,共7页System Simulation Technology

基　　金：上海市科委创新行动计划资助项目(13510721400);上海市科委创新研究重点资助项目(13ZZ123)

摘　　要：自治缆控水下机器人(autonomous remotely-operated vehicle,ARV)是一种全新概念的水下机器人,它既有遥控水下机器人(remotely operated vehicle,ROV)的特点,又有自治水下机器人(autonomous underwater vehicle,AUV)的特点。它很好地结合了两种水下机器人的优点,代表了水下机器人未来的一个重要发展方向。基于用户数据报协议(User Datagram Protocol,UDP)、网络通信协议及RS-485通信协议,针对"海事一号"ARV水下机器人开发了上位机与下位机系统之间的操控终端。该操控终端通过上位机系统与可编程逻辑控制器(Programmable Logic Controller,PLC)采集系统的程序设计,实现了"海事一号"ARV上位机与下位机的实时通信与控制,效果良好,传输效率较高。ARV （Autonomous and Remotely-operated Vehicle） is a new concept of underwater vehicles, which has both the characteristics of ROV （Remotely-operated Vehicle） and AUV （Autonomous Underwater Vehicle）. ARV combines the advantages of two types of underwater vehicle very well, and represents an important future developmental direction of the underwater vehicle. Based on UDP （User Datagram Protocol） network communication protocol and the RS-485 communication protocols, the terminal of operation and control between the upper machine and lower embedded system is developed for ＂Maritime I＂ ARV （autonomous remotely-operated vehicle ） underwater vehicle. The terminal is designed through the program of PLC （Programmable Logic Controller） system and the upper machine system, and realizes the real-time communication and control of upper machine and lower machine for the ＂Maritime I＂ ARV which produces good results and high transmission efficiency.

关 键 词：自治缆控水下机器人 UDP通信 PLC寄存器 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]