Research On Control System For Deep-Sea Underwater Manipulator

This thesis investigates pressure adaptive electro-control system for deep-sea underwater manipulator and computer control software which focuses on the position closed loop control of the manipulator.Firstly, present survey state of deep-sea underwater manipulator control system shows that some important components can not bear high pressure, a pressure hull has to be used as a sealed package to protect the control system. This structure damages the system reliability and increases the complexity of circuit boards. To solve this problem, this thesis presents an oil-charged underwater electro-control system and its pressure-resistance technique: All electric components are immerged in oil to balance environment pressure and pores on inner-empty components can let oil flow in.Secondly, in order to overcome the shortcomings of low integrated level and cumbersome structure exist in current system and obtain high maneuverability of underwater manipulator and the paper adopts a miniaturized structure to design the electric cabinet. Thirdly, normal position sensors are rebuilt to resist high pressure under deep sea in place of commercial sensors which have the weaknesses of jumbo size and high cost. Finally, current master-slave manipulator system has not realized closed-loop control which renders localization difficulty and repeated operation. In view of this problem, the thesis completes the transformation between controlled displacement and given angle to achieve position closed-loop control of the manipulator.The newly constructed control system is tested through practical experiments on its control effect. The result shows that the deep-sea presure adaptive electro-control system and computer control software we designed can meet the design requirement.The thesis contains 6 chapters with their contents as follows:Chapter 1 describes the research background and present survey state in the field of presure adaptive electro-control technique and position control technology for underwater manipulator. Finally, gives the research purpose and significance of my paper.Chapter 2 puts forward innovations and key techniques contained in the paper. Builds a multiprocessor control scheme in which the computer undertakes most of the tasks. Analyzes the hardware and software structure of the whole control system.Chapter 3 concentrates on the development process of deep-sea presure adaptive electro-control system. Focus on the oil-charged pressure resisting technique of underwater control circuit and normal position sensors.Chapter 4 focus on the research of closed-loop control strategy. Builds the model of the electro-hydraulic system of the manipulator. Designs the numeric controller with incremental PID control algorithm. Finally the paper shows how to achieve closed-loop control of the...