Underwater Towing Test Platform Sitting Track And Posture Control System Development

The underwater towing test platform is an important means for underwater equipment testing and a dynamic monitoring platform for underwater environment.It has important applications in underwater environmental monitoring,hydraulic structural inspection,marine resource survey and underwater equipment testing.The underwater towing test platform studied in this paper is tested on underwater special equipment.It is suspended from the water surface by driving,and is placed on the underwater track.Then,according to the attitude of the test equipment,the attitude adjustment mechanism is controlled to set the corresponding attitude angle.Then,The dynamic test was carried out by dragging the winch along the track.The main work of this paper is to develop the control system for the requirements of water inlet,sitting rail and attitude adjustment of the underwater towing test platform.The main content of this paper consists of the following six parts.Firstly,the research background and purpose are discussed.The research status and development trend of underwater platforms and related technologies at home and abroad are reviewed.Secondly,the towing test platform is designed for the control requirements and the whole process of the underwater towing test platform.The overall scheme of the control system;thirdly,for the remote control of the towing test platform,the design of the platform for lifting and sitting rail system is designed.The selection of the hoisting vehicle was designed,the special pylon was designed,the remote control principle was explained,and the remote control system software was developed.Fourthly,the attitude control,driving and measurement schemes were designed for the attitude adjustment requirements of the underwater towing test platform.The horizontal,vertical and rotary drive mechanisms are designed.The principle of attitude angle automatic control is discussed.The attitude angle measurement sensor is selected and the underwater rotation angle measurement method is studied.Based on PLC developed attitude control software;fifth,system debugging,in order to verify the system solution and control hardware and software feasibility,has carried out a single commissioning,land joint debugging,on-site integration and joint adjustment,test system functions,and finally through the scene Commissioning,verifying the feasibility of the scheme;sixth,summarizing the main work of the paper,pointing out the limitations of the research and design system schemes,and prospecting the next step.