Design Of Cross-platform Supervisory Control Software For Autonomous Underwater Platform

A new type underwater platform is used to deploy payloads from the water surface to the seabed,or recover payloads to the specified location on the water surface.In order to accomplish the task of software debugging,autonomous motion control and payload release tasks,it is necessary to develop a supervisory control software.According to the above mission requirements and hardware architecture,Autonomous control software with the functions of control,navigation & positioning,WiFi or underwater acoustic communication is designed.Its main features include: cross-platform,distributed,layered architecture and real-time control.The monitoring software is divided into two subsystems: water surface subsystem and underwater subsystem.The two realize cross-platform interact through WiFi link or underwater acoustic link.The underwater control software is based on QNX real-time operating system and has a layered architecture.The use of timers enables each control loop to run at different cycles.The use of shared memory and mutex can solve Inter-Process Communication and critical resource protection issues,and test results verify reliability and real-time performance.Taking the horizontal position control as an example,the algorithm design of the motion control module is carried out.The stability of the control algorithm is proved based on the platform dynamics and Lyapunov stability.The optimal power dissipation of the thruster is achieved by the optimal thrust distribution and verified by simulation.According to the mission requirements of status monitoring and remote control,a water surface graphical user interface(GUI)based on Windows operating system was designed.Before the platform is launched,the GUI can perform low operations to facilitate hardware debugging and troubleshooting of the platform.After the platform is launched,the GUI can interact with the underwater target through the WiFi communication link or water-acoustic communication link,and display the Status information and task progress in real time.