The Development Of Bottom-Supported Self-Lifting Underwater Winch Control System

In the 21st century, human have stepped into the era of the large-scale exploitation and utilization of ocean. The importance of ocean in economic development and opening up is becoming more and more highlighted, so the construction of marine power is the road to revival and the need of the time. With the strong support of marine power strategy, a series of ocean development plans were born including "Transparent Ocean" and "Digital Ocean". These plans are made to explore ocean resources, protect marine ecosystems and maintain maritime rights. However, the existing observation technology is difficult to support the national marine development strategy. Our country should focus on the research of the stereoscopic marine environment monitoring technology, form independent products and break through the blockade. The bottom-supported self-lifting underwater winch is a kind of winch which sit on the seabed and work without person on duty. It can control the laying and recovery of the underwater detection platform, so as to realize the long-term stereoscopic marine environment monitoring.This paper has fully designed the bottom-supported self-lifting underwater winch control system. The main contents include five aspects.(1) According to the work environment and system characteristics of the underwater winch and compared with a variety of control methods, we determine that the underwater winch adopts hydraulic servo driving scheme, whose actions are independently completed under the control of the software. Based on its working principle, the overall software and hardware architecture of the control system has been designed.(2) The lithium battery is used as the power source of the underwater winch. We has designed the hydraulic system, line guide device, battery and controller cabin, the rack, and so on. We also calculate the center of gravity and the center of buoyancy to ensure the structure stability of the underwater winch.(3) In the hardware design, STM32F207 microcontroller is picked as the core circuit, and some peripheral circuits have been realized, those include the motor drive circuit, the proportional valve drive circuit, the power management circuit, the rotary encoder circuit, the proximity switch circuit, the clock circuit and the RS485 circuit.(4) In the software design, the new methodology is proposed which combine UML and Simulink language. We first establish the UML model of the underwater winch control system, then use the Simulink toolboxes to carry out functional simulation and code generation of the software system model in order to complete model validation, code verification and requirement validation.(5) The joint debugging and the full test of the whole underwater winch system are completed. The validity of the mechanical system, the hardware circuit and the software program have been verified. The test results show that the function of the underwater winch reaches the expected performance index. Meanwhile, it has proved that the control system is designed reasonably and has high stability and reliability.