海洋工程水下结构检测与清污机器人控制系统研究  

Research on the control system of the marine engineering structure underwater detection and cleaning robot

作　　者：刘海舰[1] 曾庆军[1] 宋振文[1] 梁凇[1] 常路[1] 张明[1] 陈伟[1] 

机构地区：[1]江苏科技大学电子信息学院,江苏镇江212003

出　　处：《江苏科技大学学报（自然科学版）》2015年第5期443-448,473,共7页Journal of Jiangsu University of Science and Technology:Natural Science Edition

基　　金：国家自然科学基金资助项目(11204109);江苏省高校技术船舶协同创新中心项目(1634871401-1);江苏省高校自然科学基金资助项目(14KJB510008)

摘　　要：针对自主研发的水下检测与清污机器人设计了一套控制系统.该系统分水面控制系统和水下控制系统两大部分,水面控制系统主要包括PC机、控制箱、脐带缆、控制摇杆等设备.水下控制系统包括嵌入式微控制器、视觉照明模块、安全保护模块、传感器模块、运动模块、供电模块等部分.并对控制系统的软件硬件进行了设计,建立了纵向和艏向动力学模型,根据ROV结构、功能特点等简化模型;设计了一种新颖的结合PID控制的约束输入输出的直接广义预测控制算法,并对水下机器人的艏向和纵向运动展开研究.仿真结果表明,该算法具有稳定性好、自适应强等优点,具有良好的控制效果.For a self-develop underwater detection and cleaning robot,we designed a control system. The control system consists of water control and underwater control parts. The water part mainly contains the PC,control box,umbilical cable,control rocker and other equipment. The underwater control part includes embedded micro controller,visual lighting module and security module,sensor module,motion module and power supply module. In this paper,we designed hardware and software,and establish longitudinal and heading dynamic models,then simplify the model according to the function and structure features of ROV. Combined with PID control algorithm,a new generalized predictive control algorithm with input and output constraints is designed to study which function in the movements relative to longitudinal and heading degree. The simulation results show that this algorithm has such advantages as good stability and strong self-adapting,and it has great control effects as a whole.

关 键 词：水下机器人 控制系统 动力学模型 广义预测控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]