Research On The Driving Control Technology Of Deep-sea Tracked Vehicle

Due to the huge demand for resources in industrial manufacturing,the limited land resources are hard to maintain the sustainable development of mankind.People hope to alleviate this contradiction by developing marine resources.As we all know,the research of marine engineering equipment technology is the essential foundation for the exploitation and utilization of marine resources,and its importance is self-evident.China is still relatively weak in the development of marine land,and the marine development is mainly concentrated in the shallow sea.As the carrier of mining marine resources,it is necessary to develop the control technology of the deep sea crawler.This paper conforms to the current trend of intelligent and visualized driving system of deep-sea tracked vehicle,and develops a set of electronic control system for deep sea tracked vehicle driving control.The system is composed of water deck monitoring unit and underwater Embedded Measurement and control unit.Combined with system requirements and existed technology,the system design is divided into two parts:hardware design and software design.The hardware design of the system is divided into the design of the embedded hardware circuit and the design of the deck communication system.The core circuit of embedded hardware adopts STM32F103VCT6 microprocessor,and CAN communication circuit,serial communication circuit,analog data acquisition circuit,digital acquisition circuit,relay control circuit and other peripheral circuits are designed around the core circuit.The design of the deck communication system mainly includes the verification of the optical fiber communication scheme,the rational distribution of optical fiber communication resources and the realization of the hardware circuit.The software design of the system is divided into embedded software and human-computer interaction software design.Embedded software design mainly includes developing sensor data acquisition program,processing data,realizing data real-time transmission and completing control command parsing.The design of human-computer interaction software mainly realizes data visualization and data storage,and can send operation instructions in real time.Finally,the driving control system of deep sea tracked vehicle designed in this paper is tested by laboratory debugging and workshop debugging,and the performance of the whole system is tested,and the design requirements are achieved.