Study Of Control System Of Underwater Manipulator Based On PC104 And VxWorks

Special Robot has been widely used in numerous fields, such as subsea tasks, outer space exploiting and other complicated dangerous environment, with manipulator as the most important part of robot , the executive terminal . This paper discussed a underwater manipulator whose control system has been rebuit by PC104 device and VxWorks RTOS ,companied with some boards and devices kept from the original control system. The whole procedure and many details of building the new control system are also introduced in this paper.Firstly, after explaining the structure of the Underwater Manipulator system and analyzing its work principle, a appropriate control frame with"upper-low"processors in two layers is applied to the manipulator control system, and the modeling of the electro-hydraulic servo manipulator control system is figured out too. Based on these foundations, a new combination intelligent control strategy of PID control and Bang-Bang control is applied to this system. Then, corresponding digital controller of the system is designed and control parameters are selected.Secondly, compared with the single chip and the DSP , a high performance PC104 CPU board and a PC104 A/D-D/A board have been chosen to build the core of the manipulator's control system. Inorder to minimize the interference , a V/I board has been designed with a AD694 chipset as the main part. Some servo drive boards and power supply boards of original control system are still kept . All the parts have been described assembled a new control system .Later, the paper discussed how to build a complete control software by Tornado and C language based on VxWorks RTOS. The whole software is devided into several modules such as A/D, D/A ,Timer ,Serial Communication and Control Calculating . Each module's detail and method are all introduced. Finally, the software debugging, hardware testing and experiment are introduced. After compared results of experiment of new and origenal control system ,better reliabilitis and performances of underwater manipulator indicates that the new control system has meet all requests.