A Study Of AUV Underwater Docking Device Module And It's Experimental

With the gradual depletion of non-renewable resource on the land,more and more people are turning their attention to ocean.AUV is very important equipment for people to probe and develop the resource in ocean,but there is a problem of AUV—they can't work in water for a long time.Underwater Docking Technology is a key technology to improve AUV work time through underwater docking and charge AUV in water.Developing more reliable,efficient and have environmental adaptability underwater docking Underwater Docking equipment is very important and is significance.This paper focused three points on AUV underwater docking device: mechanism,hydraulic system and control system: Solved the insufficient of mechanical and hydraulic transmission system existing in the practical application;According to the project task book requirements developed the control system.At first,this paper described the significance of develop AUV underwater docking device.Then,then analysis the success and shortcomings in mechanism,hydraulic system and control system of underwater docking devices or recycling devices which developed by institutes or colleges in domestic and abroad,as a reference in this paper.In order to ensure the efficiency and reliability of Underwater Docking device,firstly,the paper formulated the overall scheme of Underwater Docking device.Find out the reasons why previous design can't meet the goal of strength and efficiency,and put out the solution to improve them.In the light of original hydraulic system:for the problem that filter function is not perfect,pressure sensor installation position is not reasonable,overflow pressure and flow can't easily be adjusted which existing in the practice,this paper presents the solution that set a filter in return loop to keep the flow clean;Changed the position where pressure sensor be installed to make the pressure can be watched.Replace the relief valve and speed control valve by and electromagnetic overflow valve and electromagnetic adjustable speed valve to make the original system can be easily control in flow pressure and speed.In order to realize the requirements that project task letter of Underwater Docking Device,the paper ultimately determined the overall program and determined the control technological process.In order to realize the goal that the underwater docking device can be control,this paper studied the control system of Underwater Docking device.In order to realize the long-distance signal transmission,this paper present a signal transmission scheme,built experimental platform to verify the scheme.In order to make it easy to read the signal from STM32 and conveniently sent orders from PC,this paper based on LabVIEW develop a PC control platform;Obedience the master-slave control method and the sensor on the lower computer functional requirements,this paper studied the controller software system and hardware system: designed a controller hardware system,and based on STM32 library functions developed the control program.In order to ensure that the efficiency and reliability of hydraulic system,this paper studied the problems which present in practical work.then studied on purpose of solve these problems.In view of the problem that previous hydraulic system can't be assembled,this paper carried on the reason analysis,and proposed a solution;in order to solve the problem that wall joints can't be sealed and easily to loose,the paper proposed a design that changing wall joints pressed forms.In order to solve the problem that the material of hydraulic motor will corrosion in water,the paper present a design to protect the hydraulic motor.In order to ensure the hydraulic seal electronic module and sealed cabin's safety,this paper carried on the leakage monitoring system research.To respond to the hidden dangers caused by mechanical lifting lug,this paper designed two ways to protect the device.In order to validate the research results and water docking device working condition,this paper carried on a land water test and experiment of underwater docking device.Experiments on land part: Aiming at the underwater docking device installation,seal,features and security four aspects to verification,verified the seal of cabin,the electronic compass installation accuracy and verify the verify the control system communication between the computer and STM32.The underwater part experiment mainly aimed underwater control precision,energy consumption,reliability and function four aspects to research.Measured the range adjustment module and attitude adjustment module control accuracy,computed the energy consumption when docking device working,verified the function of AUV,including if feedback the position of AUV,if clamping and fixing function reliability.