| 题名 | 深海微型ROV载体控制系统设计与实现 |
| 作者 | 黄兴龙 |
| 学位类别 | 硕士 |
| 答辩日期 | 2010-06-03 |
| 授予单位 | 中国科学院沈阳自动化研究所 |
| 授予地点 | 中国科学院沈阳自动化研究所 |
| 导师 | 李智刚 |
| 关键词 | 深海微型ROV 控制系统 ARM 耐压设计 |
| 其他题名 | Design and Implementation of a Control System for Deep Ocean Micro-ROV |
| 学位专业 | 模式识别与智能系统 |
| 中文摘要 | 随着海洋开发的发展，人类对海洋作业任务的深度及安全性提出了更高的要求。搭载在7000米载人潜水器的深海微型ROV，是载人潜水器伸出去的机械手，大大强化了载人潜水器的作业能力，在确保载人潜水器安全性方面起到不可替代的作用。深海微型ROV自带能源，具有进入较危险的空间作业的能力，因此在保证能实现深海微型ROV基本功能的前提下，开发出尺寸更小、重量更轻、运动灵活的微型ROV一直是各国共同的目标。采用油液补偿技术搭建深海微型ROV的电子控制系统，能大幅度减少深海微型ROV尺寸与重量，是当前深海微型ROV设计中实现前述目标的最佳办法。我国的深海水下机器人技术，在材料技术、液压密封技术、控制技术等已经逐渐成熟，但是承压电子技术是制约我国深海水下机器人发展的主要技术颈瓶。 沈阳自动化所水下机器人研究室对电子元件、电子系统在水下7000米高压下的工作特性进行了一系列的试验，得到了大量重要的数据以及耐压电子技术的设计方法。在此基础上，本文采用耐压电子技术，又研究了当前ROV控制系统的不同结构、性能等，设计了嵌入式ROV载体控制系统。该系统是7000米微型ROV的核心部件，以AT91RM9200芯片作为中央处理器, 可以扩展多个传感器接口、电机驱动接口等各种ROV功能组件。基于Linux编写的实时多任务软件能实现ROV与上位机的通讯，完成对ROV的控制。控制系统具有尺寸小、功耗低的特点，能在7000米深海压力下正常稳定工作，满足深海微型ROV对控制系统的特殊要求。 本系统适用于工作在深海中的采用液压补偿器安装的控制系统，如ROV、AUV等深海作业的水下机器人控制系统，在大深度海洋开发、海洋科学考察等方面具有较为广泛的应用前景。 |
| 索取号 | TP242/H79/2010 |
| 英文摘要 | With the development of oceanographic technology research, the task of ROV in the ocean need deeper and deeper, and the safety of task need a higher lever. The 7000-Meter-Micro-ROV is just like a moving manipulator of the Human Operation Vehicle (HOV).it can remarkably enhance the capability of the HOV and ensure the safety of HOV, and could never be replaced. The 7000-Meter-Micro-ROV carries with batteries inboard, can move into the small and dangerous space, so every related country try to design a Micro-ROV with smaller size, lighter weight, and perfect maneuvering ability, on the premise of making sure the ROV have basic ability. The utilization of the pressure tolerant electronics technology to develop the electronic system, allow markedly reducing the weight and the size, and this is the best way at present. The technology of underwater vehicle in deep sea in our control has partly mature enough, such as hydraulic technology，control technology, but the pressure tolerant electronics technology is the bottleneck of deep sea Micro-ROV. Shenyang Institute of Automation (SIA) designed and carried out a lot of experiments to research the electronic characteristic of the electronic component and electronic systems, while working in the high pressure of 8,000 meters under water, Experiments have effectively solved the pressure tolerant problems. Based on pressure tolerant electronics technology, this paper Designed an embedded control system for Micro ROV, after compare the different structure of ROV system. The embedded control system whose MCU is AT91RM9200 is the main device of the 7000-Meter-Micro-ROV, the control system can expand several sensors interface and motor driven interface and other functional unit interface of ROV. The Real-Time Multitask Software Based Linux allows the ROV communicate with the upper computer and controlling the ROV robustly. This control system board is small size, low power operation, and be work robustly to a depth of 7,000 meters in sea, meets the need of the special environment. This system is dedicated to use in the control system installed in the pressure compensator working in the deep sea, such as the underwater vehicle of working in the deep sea, ROV and AUV. The system has a good prospect of application in the deep sea oceanographic technology research and development. |
| 语种 | 中文 |
| 产权排序 | 1 |
| 公开日期 | 2012-07-27 |
| 分类号 | TP242 |
| 内容类型 | 学位论文 |
| 源URL | [http://ir.sia.ac.cn/handle/173321/9281]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 推荐引用方式 GB/T 7714 | 黄兴龙. 深海微型ROV载体控制系统设计与实现[D]. 中国科学院沈阳自动化研究所. 中国科学院沈阳自动化研究所. 2010. |
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