Control System Research On Interfacing Apparatus Of Underwater Repairing Flat Roof

The paper is based on the important research project "Interfacing Apparatus of Underwater Repairing Flatform" among the "ten. five" Project of the department of the navel equipment. The paper discusses the research significance and internal and external resent development of the underwater interfacing technology. The paper also discusses the whole project of the interfacing apparatus, analyses and calculates the force of the hydraulic cylinder of the six-degree parallel structure and the workspace of the moving flat roof of the parallel apparatus. At the same time , it designs the whole control project of the six-degree parallel structure apparatus , discusses the hydraulic-servo control system, analyses and simulates the character of the control system of the single hydraulic cylinder.According to the project of the interfacing experimental apparatus, The hardware circuit of the control system with 89C51 single-chip microcomputer has been designed, which include the circuit from analog signal to digital signals and the circuit from digital signals to analog signals , the drive circuit of the electromagnetism~valve and servo-valve, the communication interface circuit between the single-chip microcomputer and PC and so on. All the hardware circuits have been tested.The software in C51 language of the single-chip microcomputer has been developed according to the control strategy and the hardware circuit; The integrated display and control software and communicationsoftware is developed in VB advanced language in PC; The software of two aspects has been tested. The function of displaying the interfacing status at actual time has been realized on control panel. The combined test of the hardware and software has also been done.The experiment of the interfacing apparatus has been done in the water tank. The function of controlling the interfacing apparatus has been realized and the status of the interfacing apparatus has been displayed in PC. At the same time, the hermetic character of the latex gasbag has been tested. The feasibility of the kind of the underwater hermetic form has been validated.