| With the developing technology of computer network and field bus, the control system of Remotely Operated Vehicle (ROV) is facing a technology revolutionary. And traditional Integrated Control System (ICS) would be replaced by Distributed Control System (DCS) gradually. The DCS that based on CAN Bus could put the Micro-Controller Unit (MCU) down to the control field, and all the MCUs could be dispatched and managed by upper monitor unit. The DCS that characterized by manage-integrated and control-distributed has many advantages. Such as, high reliability, opened performance, high feasibility and high coordination.On the base of the predecessors'researches, we studied the ROV's system structure, hardware design and control rules of the ROV control system farther, and developed the ROV's distribute control system that based on CAN Bus successfully.The structured and modularized method is employed in the control system design, and the control system is divided into several functional modules. Each module is embedded with unique process algorithm respectively, and make up of a series of intelligent nodes of the CAN Bus. All the functional modules are managed and dispatched by the master module. The control syetem synthesizes the integrated manage and distribute control methods, which enhances the system's transplant ability and compatibility.Motion control module based on the PID algorithm is designed and motional rules, which are investigated by term of the ROV's structure and motional features. In the end, controllers of auto-heading and auto-deeping that based on PID algorithm are designed separately in this paper.As the main tool for human-beings to entend their underwater perception, ROV provides a real-time monitor and observation platform for areas such as:Nuclear Industry, Oil and Gas Field, Military Industry, Civil Industry, Navigation Channel, Scientific Investigation, and also provides the technical guarantee for human-beings to march for the Ocean. |
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