| The motion compensation system is a very important part of theunderwater robot key technology research project. The motioncompensation system is installed in the mother ship to eliminate theinfluence on underwater robot caused by the heave movement of the mothership. The system consists of several modules: a main control unit, a datacommunication unit, a electric hydraulic actuator and a three-dimensionalsimulation test platform. This paper is written regarding on the hardwaredesign and the software development of the motion compensation system, aswell as a preliminary study on the control algorithm.The main work includes:(1) The hardware circuit design of the main control unit and the datacommunication unit. The main control unit is in charge of control algorithmcomputing tasks and communication tasks with the three-dimensionalsimulation test platform. This unit is a complete embedded system with acore board and a backplane, with the LPC3250chip of32-bit ARMarchitecture as its core processor. The data communication unit is amicrocomputer system based on the8-bit microcontroller ATmega8, tocomplete the task of data collection and transmission.(2) The embedded software development of the main control unit and thedata communication unit. Design a multi-tasking, real-time software systemfor the main control unit based on the real time operating system VxWorks.Complete software development for data communication unit as well.(3) The software development of three-dimensional simulation test platformThis platform is based on the MFC framework and OpenGL libraries, the main function of this platform is to obtain data from the main control unit,send the console command to the system, and also display the status of thesystem status in a way of three-dimensional dynamic animation.(4) In this paper, a control algorithm research based on nonlinearHammerstein model identification is introduced, through experiments thealgorithm can achieve better control effect than the PID control algorithm. |
PDF Full Text Request