摘要
针对一种新型遥控自治水下机器人ARV原理样机,开发了一套水面水下控制系统,它基于Modbus总线、具有ROV/AUV控制模式自动切换和独立工作能力。该系统包括直航、转向与潜浮三自由度运动控制功能,并搭建了一套由罗盘、陀螺、倾角仪和加速度计组成的小型组合自主导航单元。水池与湖上试验结果表明:ARV控制系统性能可靠,具有很好的鲁棒性与稳定性,能够满足水下机器人在复杂多变环境中的工作要求。
The control system for a new vehicle prototype （Autonomous ＆ Remotely-operated Vehicle, ARV） is developed in this paper.Data exchange procedure between surface and the vehicle is based on Modbus Protocol.The system can switch control mode between ROV and AUV automatically and run in either mode independently. It sustains 3-DOF manoeuvre： moving forward/back-off, turning around and diving/floating. Here a mini unit of autonomous navigation is comprised of compass, gyro, tilt sensor and accelerometers.Pool test verified the key technologies of ARV. The results show that ARV control system has reliable and robust performance and can satisfy the underwater complex environment.
出处
《中国造船》
EI
CSCD
北大核心
2010年第4期100-110,共11页
Shipbuilding of China
