重版ROV推进器控制系统设计  

Heavy of ROV Propulsion Control System Design

作　　者：周贤良 辛绍杰[1] 董帅帅 ZHOU Xian-liang;XIN Shao-jie;DONG Shuai-shuai(Shanghai Dianji University,Shanghai 200240 China)

机构地区：[1]上海电机学院,上海200240

出　　处：《自动化技术与应用》2020年第9期6-10,共5页Techniques of Automation and Applications

摘　　要：针对海洋资源的开发与勘探难度的日益加大,对开发与勘探设备的要求逐渐提高,设计了一种重版型的基于水面无人艇(USV,Unmanned Surface Vessel)辅助型的缆式水下机器人(ROV,Remotely Operated Vehicle),搭载10台无刷直流电机(BLDCM,Brushless Direct Current Motor)用来加大ROV工作效率,为了稳定精确的控制ROV运行,首先对水下机器人的系统进行了总体设计,其次对ROV的推进器与推进器分布进行了设计,最后对ROV的电机控制系统进行设计并从仿真和实验两方面验证可靠性。In view of the increasing difficulty of the exploitation and exploration of marine resources,the requirements for development and exploration equipment are gradually increasing,and a re-version of the surface-based unmanned boat(USV,Unmanned Surface Vessel)auxiliary cable underwater robot(ROV,Remotely Operated Vehicle)is designed.(Operated Vehicle),equipped with 10 brushless DC motors(BLDCM,Brushless Current Direct Motor)to increase ROV efficiency,in order to stabilize and accurate control of ROV operation,the first underwater robot system is designed in general.Secondly,the range of the promoter and thruster of THE ROV is designed,and the motor control system of ROV is designed and the reliability is verified from both simulation and experiment.

关 键 词：水面无人艇 水下机器人 无刷直流电机 控制系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]