In this paper, graphical-user-interface （GUI） software for simulation and fuzzy-logic control of a remotely operated vehicle （ROV） using MATLABTM GUI Designing Environment is proposed. The proposed ROV＇s GUI plat...In this paper, graphical-user-interface （GUI） software for simulation and fuzzy-logic control of a remotely operated vehicle （ROV） using MATLABTM GUI Designing Environment is proposed. The proposed ROV＇s GUI platform allows the controller such as fuzzy-logic control systems design to be compared with other controllers such as proportional-integral-derivative （PID） and sliding-mode controller （SMC） systematically and interactively. External disturbance such as sea current can he added to improve the modelling in actual underwater environment. The simulated results showed the position responses of the fuzzy-logic control exhibit reasonable performance under the sea current disturbance.展开更多
The work-class remotely-operated-underwater-vehicles（ROVs） are mainly driven by hydraulic propulsion system,and the effeciency of hydraulic propulsion system is an important performance index of ROVs.However,the eff...The work-class remotely-operated-underwater-vehicles（ROVs） are mainly driven by hydraulic propulsion system,and the effeciency of hydraulic propulsion system is an important performance index of ROVs.However,the efficiency of traditional hydraulic propulsion system controlled by throttle valves is too low.Therefore,in this paper,for small and medium ROVs,a novel propulsion system with higher efficiency based on high speed on/off valve control hydraulic propeller is proposed.To solve the conflict between large flow rate and high frequency response performance,a two-stage high speed on/off valve-motor unit with large flow rate and high response speed simultaneously is developed.Through theoretical analysis,an effective fluctuation control method and a novel pulse-width-pulse-frequency-modulation（PWPFM） are introduced to solve the conflict among inherently fluctuation,valve dynamic performance and system efficiency.A simulation model is established to evaluate the system performance.To prove the advantage of system in energy saving,and test the dynamic control performance of high speed on/off valve control propeller,a test setup is developed and a series of comparative experiments is completed.The smimulation and experiment results show that the two-stage high speed on/off valve has an excellent dynamic response performance,and can be used to realize high accuracy speed control.The experiment results prove that the new propulsion system has much more advantages than the traditional throttle speed regulation system in energy saving.The lowest efficiency is more than 40%.The application results on a ROV indicate that the high speed on/off valve control propeller system has good dynamic and steady-state control performances.Its transient time is only about 1 s-1.5 s,and steady-state error is less than 5%.Meanwhile,the speed fluctuation is small,and the smooth propeller speed control effect is obtained.On the premise of good propeller speed control performance,the proposed high speed on/off valve control propeller can improve the effeciency of ROV propulsion system significantly,and provides another attractive ROV propulsion system choice for engineers.展开更多
The underwater environment is complicated and full of hazards,making it tough to complete with just one piece of underwater operation equipment.Building a high-speed,low-latency wireless connection between a remote wi...The underwater environment is complicated and full of hazards,making it tough to complete with just one piece of underwater operation equipment.Building a high-speed,low-latency wireless connection between a remote wireless operation platform on water surface and other operation platforms in order to achieve long-distance transmission of high-definition image data and control commands,as well as collaborative operations among multiple platforms,has become a development trend and focus of exploring complex and dangerous waters.This paper summarizes and elaborates on underwater communication technology,long-distance data transmission technology,multi-submersible robot collaborative operation,and information interaction technology,as well as the development status of key technologies of remote wireless operation platform on water surface.And the research direction and focus of the remote wireless operation platform on water surface are prospected.展开更多
针对水声通信带宽低、时延长、误码率高、多普勒效应显著等特征,分析了传统可靠传输机制在水下传感器网络应用的局限性,提出了基于数字喷泉码-优化Raptor码的水下传感器网络可靠传输机制。采用反馈控制对Raptor码内码的鲁棒孤子分布和...针对水声通信带宽低、时延长、误码率高、多普勒效应显著等特征,分析了传统可靠传输机制在水下传感器网络应用的局限性,提出了基于数字喷泉码-优化Raptor码的水下传感器网络可靠传输机制。采用反馈控制对Raptor码内码的鲁棒孤子分布和多项式描述的Shokrollahi度分布进行优化设计,降低了编码包平均度。进一步对Raptor码的内码—弱化的LT码(Luby transform codes)的编解码进行优化,实现了快速的编解码。基于优化Raptor码的可靠传输机制采用反馈控制,动态评估信道删除概率,从而提高编解码和通信效率。通过Aqua-Sim仿真工具对提出的可靠传输机制与基于编码的多跳协同可靠数据传输(coding based multi-hop coordinated reliable data transfer,CCRDT)机制进行仿真对比。结果表明,所提出的可靠传输机制明显降低了传输开销,提高了数据吞吐量。展开更多
基金Supported by the Newcastle University’s Project Account:C0570D2330
文摘In this paper, graphical-user-interface （GUI） software for simulation and fuzzy-logic control of a remotely operated vehicle （ROV） using MATLABTM GUI Designing Environment is proposed. The proposed ROV＇s GUI platform allows the controller such as fuzzy-logic control systems design to be compared with other controllers such as proportional-integral-derivative （PID） and sliding-mode controller （SMC） systematically and interactively. External disturbance such as sea current can he added to improve the modelling in actual underwater environment. The simulated results showed the position responses of the fuzzy-logic control exhibit reasonable performance under the sea current disturbance.
基金supported by National Hi-tech Research and Development Program of China (863 Program, Grant No.2006AA09Z215)
文摘The work-class remotely-operated-underwater-vehicles（ROVs） are mainly driven by hydraulic propulsion system,and the effeciency of hydraulic propulsion system is an important performance index of ROVs.However,the efficiency of traditional hydraulic propulsion system controlled by throttle valves is too low.Therefore,in this paper,for small and medium ROVs,a novel propulsion system with higher efficiency based on high speed on/off valve control hydraulic propeller is proposed.To solve the conflict between large flow rate and high frequency response performance,a two-stage high speed on/off valve-motor unit with large flow rate and high response speed simultaneously is developed.Through theoretical analysis,an effective fluctuation control method and a novel pulse-width-pulse-frequency-modulation（PWPFM） are introduced to solve the conflict among inherently fluctuation,valve dynamic performance and system efficiency.A simulation model is established to evaluate the system performance.To prove the advantage of system in energy saving,and test the dynamic control performance of high speed on/off valve control propeller,a test setup is developed and a series of comparative experiments is completed.The smimulation and experiment results show that the two-stage high speed on/off valve has an excellent dynamic response performance,and can be used to realize high accuracy speed control.The experiment results prove that the new propulsion system has much more advantages than the traditional throttle speed regulation system in energy saving.The lowest efficiency is more than 40%.The application results on a ROV indicate that the high speed on/off valve control propeller system has good dynamic and steady-state control performances.Its transient time is only about 1 s-1.5 s,and steady-state error is less than 5%.Meanwhile,the speed fluctuation is small,and the smooth propeller speed control effect is obtained.On the premise of good propeller speed control performance,the proposed high speed on/off valve control propeller can improve the effeciency of ROV propulsion system significantly,and provides another attractive ROV propulsion system choice for engineers.
基金supported by National Natural Science Foundation of China(Grant No.51505258 and 61601265)Natural Science Foundation of Shandong Province,China(Grant No.ZR2015EL019,ZR2020ME126 and ZR2021MF131)+2 种基金The Youth Science and Technology Plan Project of Colleges and Universities in Shandong Province(Grant No.2019KJB019)Open project of State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures,China(Grant No.1903)Open project of Hebei Traffic Safety and Control Key Laboratory,China(Grant No.JTKY2019002).
文摘The underwater environment is complicated and full of hazards,making it tough to complete with just one piece of underwater operation equipment.Building a high-speed,low-latency wireless connection between a remote wireless operation platform on water surface and other operation platforms in order to achieve long-distance transmission of high-definition image data and control commands,as well as collaborative operations among multiple platforms,has become a development trend and focus of exploring complex and dangerous waters.This paper summarizes and elaborates on underwater communication technology,long-distance data transmission technology,multi-submersible robot collaborative operation,and information interaction technology,as well as the development status of key technologies of remote wireless operation platform on water surface.And the research direction and focus of the remote wireless operation platform on water surface are prospected.
文摘针对水声通信带宽低、时延长、误码率高、多普勒效应显著等特征,分析了传统可靠传输机制在水下传感器网络应用的局限性,提出了基于数字喷泉码-优化Raptor码的水下传感器网络可靠传输机制。采用反馈控制对Raptor码内码的鲁棒孤子分布和多项式描述的Shokrollahi度分布进行优化设计,降低了编码包平均度。进一步对Raptor码的内码—弱化的LT码(Luby transform codes)的编解码进行优化,实现了快速的编解码。基于优化Raptor码的可靠传输机制采用反馈控制,动态评估信道删除概率,从而提高编解码和通信效率。通过Aqua-Sim仿真工具对提出的可靠传输机制与基于编码的多跳协同可靠数据传输(coding based multi-hop coordinated reliable data transfer,CCRDT)机制进行仿真对比。结果表明,所提出的可靠传输机制明显降低了传输开销,提高了数据吞吐量。
