Research On Underwater Cleaning Robot Propeller Drive And Its Health Status Monitoring

At present,economic globalization is deepening,trade between countries is more frequent,the number of ocean shipping vessels is increasing rapidly,ship pollution directly increases ship navigation resistance,indirectly increases fuel quantity and environmental pollution level,and An automated underwater cleaning device is important for the cleaning of the bottom of the ship and irregularly shaped propellers.This paper studies a ship propeller underwater cleaning robot in conjunction with the China Ship Science Research Center project,and conducts in-depth research on its propeller drive and condition monitoring.Firstly,based on the cleaning effect of different cleaning methods,a cleaning scheme for cavitation jets is developed;Based on the irregularity of the shape of the ship propeller,the underwater robot body and the underwater manipulator are provided to provide freedom for the cleaning movement,and finally the underwater robot,the robot,and the cavitation are formed.The marine propeller underwater cleaning system integrated with the jet system.Secondly,aiming at the development of underwater robot hardware control system,a current limiting grounding circuit is designed based on the traditional water leakage detection circuit.The experimental verification of the current limiting grounding circuit effectively reduces the current impact of the traditional water leakage detection circuit on the DI interface of the main controller.Prevent false alarms of water leakage information.Then the hardware system of the underwater robot propeller drive control is studied.The hybrid driver is combined with the analog driver and the PWM driver for the problem that the propeller water flow disturbance causes the analog driver to burn and the A-PWM driver and the PWM driver do not match the power.The hardware circuit is experimentally verified that the control effect and power matching between the main controller,the driver and the propeller are good.Further,in the conventional driving method of the pusher modular driving circuit,one of the I/O board initialization program statements appears before the initialization program statement of other I/O boards,and other I/O boards may fail to initialize,and subsequent programs The problem of uncontrollable I/O ports on other I/O boards is designed as a software-driven method that initializes the I/O board as a separate main thread.Finally,based on the state monitoring of the propeller,a seven-point smooth wavelet decomposition superposition noise reduction method and a seven-point smooth wavelet decomposition cross-coupling noise reduction method are proposed to reduce the propeller current data.Experiments: Compared with the wavelet decomposition and noise reduction method and the seven-point smoothing method,the average error,rms error and average relative error of current data and real current data after noise reduction are reduced.Seven-point smooth wavelet is reduced.The decomposed cross-coupling method has the best noise reduction effect and can effectively realize the state monitoring of the propeller.