Research On Control System For Intelligent Mating Apparatus Of Underwater Carrier

The intelligent mating apparatus of underwater carrier is the main vehicle to rescue submarines. Underwater mating is the key technique in rescuing performance. The thesis mainly points to the research for the project of intelligent apparatus. The thesis makes the analysis of kinematics when the manipulators hold the target loop, analyzes and reckons dynamics when the manipulator adjusting, the thesis studies the manipulator's structure and the hydraulic pressure system, accounts for task space of the apparatus, testifies the possibility of the manipulators holding the target loop.The control system which is based on programmable controller (PLC) is designed out. PLC's hardware foundation is mature and its working mode is blocking, all of these can serve for project. Furthermore, there is another waterproof circuit. The mating apparatus' all hardware's test are finished.The thesis designs out the inspection system which is based on configuration software. By using configuration software to inspect on the apparatus on PC at any moment comes true. The thesis adopts C and SQL's function to editing a series of inspection interfaces which include exchanging data with EXCEL, real time-report, history curve connection with Access, alarm list and so on. Complete reflecting the info of apparatus on control screen and debug software with hardware together anywhere.Simulation experiment of the apparatus is taken on land, control and inspection system complete the mission which controls manipulators' move and shows the status of the apparatus. All figures kiss well with apparatus' nature.