腹部作业型水下机器人控制系统研制

Development of control system in abdominal operating ROV

[目的]针对无人水下机器人(UUV)的回收任务要求,研制开发一台新式腹部作业型水下遥控机器人(ROV)。腹部作业型ROV不同于一般依赖机械手作业的传统ROV,其通过腹部作业机构完成与UUV的水下对接及回收。[方法]介绍腹部作业型ROV的系统组成及原理,提出一种以一体化工业加固计算机为水面监控单元,PC104嵌入式工业控制计算机为水下主控单元,各驱动板为驱动单元的控制系统架构。同时建立腹部作业型ROV的动力学模型,并设计水平面定向控制的H∞鲁棒控制器。[结果]单项试验、系统联调及水池试验表明,腹部作业型ROV控制系统具有良好的实时性和可靠性,能够满足UUV回收任务的要求。[结论]该架构和算法对于其他移动机器人、无人机、仿生机器人的控制系统开发均具有参考意义。

In order to satisfy all the requirements of Unmanned Underwater Vehicle(UUV)recovery tasks,a new type of abdominal operating Remote Operated Vehicle(ROV)was developed.The abdominal operating ROV is different from the general ROV which works by a manipulator,as it completes the docking and recovery tasks of UUVs with its abdominal operating mechanism.In this paper,the system composition and principles of the abdominal operating ROV are presented.We then propose a framework for a control system in which the integrated industrial reinforced computer acts as a surface monitor unit,while the PC104embedded industrial computer acts as the underwater master control unit and the otherdrive boards act as the driver unit.In addition,the dynamics model and a robust H-infinity controller forautomatic orientation in the horizontal plane were designed and built.Single tests,system tests and underwater tests show that this control system has good real-time performance and reliability,and it can complete the recovery task of a UUV.The presented structure and algorithm could have reference significance to the control system development of mobile robots,drones,and biomimetic robot.