Underwate self-navigation platform control system

A control system and platform control technology, applied in three-dimensional position/channel control, etc., can solve problems such as robot loss, and achieve the effect of simple structure, flexible communication protocol, and easy expansion

Inactive Publication Date: 2005-10-05
TIANJIN UNIV
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Problems solved by technology

The marine environment is complex and changeable, and autonomy is realized under such conditions. In addition, the motion of the underwater navigation platform has strong coupling and nonlinear characteristics. Its control system is one of the key technologies, which largely marks the level of the platform, and System reliability is particularly important, any failure may lead to the loss of the robot

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  • Underwate self-navigation platform control system
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  • Underwate self-navigation platform control system

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Embodiment Construction

[0031] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0032] Overall control architecture of the present invention:

[0033] See figure 1 As shown, the CAN bus commonly used in automobiles is used for underwater self-navigation platforms, and a hybrid control system structure is adopted, which has many advantages such as easy modular design, easy expansion, parallel computing, and fast speed. Each node is hierarchically layered in function, and there are structures such as inclusion and behavior response inside each module. The whole system is a hybrid structure, which avoids the limitations and deficiencies of a single control structure, maximizes strengths and circumvents weaknesses, and the whole system structure is concise and clear. , very suitable for small, low-cost underwater self-navigating platforms. The CAN bus is the Controller Area Network bus; the full name of CAN is Controller Area Network, translated a...

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Abstract

The invention discloses a control system for underwater self-navigating platform, including organization stage, coordination stage and field executive stage, interconnected through CAN bus, where the organization stage is composed of microcomputers, the coordination stage includes total control unit as well as navigation planning unit, system power supply management unit, collision judgment and processing unit, failure diagnosis and processing unit, data collection and storage unit and communication control unit, GPS communication system, heavy capacity memories and sensor modules, and the sensors modules are connected with navigation control and measuring sensors; the navigation control system is controlled by three electric machines, each of them composed of position driver, DC brushless machine and transmission mechanism. The invention adopts a structure of mixed control system, easy to extend and improving system reliability; and adopts a navigation control system with one propeller and two pairs of rudders, completely realizing functions and simple and reliable.

Description

technical field [0001] The invention relates to a control system of an underwater self-navigation device, in particular to a control system of an underwater self-navigation platform. Background technique [0002] With the urgent needs of marine resources and environment, marine scientific research and military tasks, the ocean has become an important territory for human attention and exploration. However, the risk of human exploration is high, and effective tools must be used. The underwater self-navigating platform has many advantages such as strong environmental adaptability, wide range of activities, and convenient use, and has become a hot field of research in the world today. Many developed countries in the world attach great importance to its development, typical of which are: ABE and REMUS developed by the Woods Hole Oceanographic Institution (WHOI) in the United States, Odyssey at the Massachusetts Institute of Technology (MIT), Theseus in Canada, MARIUS and MARTIN i...

Claims

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Application Information

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IPC IPC(8): G05D1/10
Inventor 王树新侯巍温秉权何漫丽杨晓华梁捷
Owner TIANJIN UNIV
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