Underwater section monitoring robot controller and automatic trajectory tracking controlling method

Abstract

The invention relates to an underwater section monitoring robot controller which includes a controller A arranged in a ship-loaded control box and a controller B arranged in an underwater robot instrument cabinet. The two controllers communicate through an armored umbilical cable. The controller A acquires a remote-control control instruction of a control panel of the ship-loaded controller in a real-time manner and carries out coding and assembled framing on the control instruction according to a customer-defined communication protocol and then sends the control instruction to the underwater controller B via a communication module. The underwater controller B receives a protocol frame, which is sent by the ship-loaded controller A, in a real-time manner and carries out protocol decoding and analyzing out the control instruction according to a protocol format so as to control a switch of a corresponding relay on a relay driving plate to move and thus control of motion postures of the underwater robot is realized. The underwater section monitoring robot controller and the automatic trajectory tracking controlling method adopt a limited-time trajectory tracking control technology to realize tracking of a preset trajectory point by an underwater robot so that wide-range and high-precision motion and posture control of the underwater section monitoring robot can be realized.

Description

technical field [0001] The invention relates to an underwater profile monitoring robot controller and an automatic trajectory tracking control method, belonging to the technical field of underwater monitoring robot controller design. Background technique [0002] The underwater robot controller generally adopts a centralized control method. There is only one controller in the instrument cabin of the underwater robot, and the control commands on the shore are sent to the underwater controller for collection through the multi-core umbilical cable. Corresponding to the number of cores, this will increase the weight of the umbilical cable, which will adversely affect the attitude control of the underwater robot. On the other hand, the power supply method mostly adopts the direct power supply method of 220VAC on board the ship, and the underwater robot is powered through the umbilical cable, and a voltage conversion module is installed in the instrument cabin of the underwater ro...

AI Technical Summary

Problems solved by technology

[0002] The underwater robot controller generally adopts a centralized control method. There is only one controller in the instrument cabin of the underwater robot, and the control commands on the shore are sent to the underwater controller for collection through the multi-core umbilical cable. Corresponding to the number of cores, this will increase the weight of the umbilical cable and bring adverse effects on the attitude control of the underwater robot

On the other hand, the power supply method mostly adopts the direct power supply method of ship-borne 220VAC power supply, and the underwater robot is powered through the umbilical cable, and a voltage conversion module is installed in the instrument cabin of the underwater robot; The bit error rate is high, and the probability of misoperation of the underwater thruster is high

In addition, if the shipboard is directly converted to the working voltage required by the underwater controller circuit board, the voltage will drop due to the capacitive effect during the transmission process, which cannot reach the normal working voltage of the control board circuit board.

The 485 communication method is mostly used between the controllers, and its transmission distance can reach about 1000 meters. Due to the influence of underwater disturbance, the transmission distance is further shortened; the 485 communication method is difficult to meet the large-scale and high-depth monitoring of profile monitoring. specialty

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