摘要
为了简化遥控潜水器(ROV)控制系统框架,使得控制信号和水下视频信号能通过同一网络进行实时传输,文章基于EtherCAT协议搭建了一套ROV控制系统,并将水下控制系统进行模块化处理;通过TwinCAT软件作为控制系统的主站,基于Visual Basic设计了可视化界面,并通过先进设计系统通信与TwinCAT进行数据交换。最后,通过搭建模拟系统验证了所设计的水下机器人控制系统的可行性,并测试了其网络性能,实验结果表明该控制系统可用于水下系统。
To simplify the control system structure of remotely operated vehicle(ROV),this paper focuses on designing the EtherCAT based ROV control system,in which control signals and underwater video signals can be transmitted in real time.This project built a prototype ROV control system based on EtherCAT protocol,and modularized the underwater system.TwinCAT was adopted to setup the master station of the control system,the user interface was designed based on Visual Basic,and data exchange was performed with TwinCAT through ADS communication.Finally,the feasibility of the proposed system was verified and the performance of the network was tested by building simulation platform.Experimental results show that the system can be used in underwater systems.
作者
谢磊
XIE Lei(School of Mechanical Engineering,Zhejiang University,Hangzhou,Zhejiang 310027,China)
出处
《控制与信息技术》
2020年第4期15-19,共5页
CONTROL AND INFORMATION TECHNOLOGY
