水下电磁探测车控制系统设计

Design of Control System for Underwater Electromagnetic Detection Vehicle

结合水下电磁探测的作业要求,分析了水下电磁探测车控制系统的技术要求.采用上下位机结构构建了控制系统,上位机和下位机之间采用电缆进行控制信号和视频信号传输,上位机负责发送运动控制指令、完成视频信号存储,下位机负责运动驱动、水下照明、水下摄像、信号上传.采用模块化设计提高了控制系统的工作可靠性和维护性.开展了水下电磁探测车控制系统性能试验,试验内容包括水下电磁探测车最大行走速度试验、最大爬坡能力试验、定向行走能力试验、全方位观测系统工作能力、视频信号传输和存储能力,试验结果表明,所设计的控制系统满足设计要求.

Combined with the requirements of underwater electromagnetic detection,the technical requirements of the underwater electromagnetic detection vehicle control system are analyzed.The control system is constructed by using the upper and lower computer structure.The cable between the upper computer and the lower computer is used for control signal and video signal transmission.The upper computer is responsible for sending motion control commands and completing video signal storage.The lower computer is responsible for motion driving,underwater lighting,underwater camera and signal upload.The modular design improves the operational reliability and maintainability of the control system.The performance test of the underwater electromagnetic detection vehicle control system is carried out.The test contents include the maximum walking speed of the underwater electromagnetic detection vehicle,the maximum climbing ability,the directional walking ability,the omnidirectional observation system working ability,the video signal transmission and storage capacity.The test results show that the designed control system meets the design requirements.