Research On Controller Of Underwater Manipulator And Automatic Toolkit

The operational technology of underwater has been used in many areas, such as petroleum exploring, salvage and lifesaving, pipeline laying, equipment maintenance etc, especially when these occur in ocean. The operation system of underwater researches in this paper include two parts that include an underwater manipulator and a toolkit. It has wide application value because this kind of structure can be competent for several different tasks during the same submergence.Firstly, the author systematically overviews the development and the current application situation in the underwater operational technology field. The kinematics models of manipulator are introduced concisely, at same time kinematics equations are built. The mechanism and hydraulic parts are all been fixed or maintained. Valve-controlled asymmetrical cylinder servo system in the manipulator is analyzed in detail and its mathematical model is also valuable. By means of above research, Fuzzy-PID control strategy is applied in the control system. The effect of emulation and experiments are all prove Fuzzy-PID has a more adaptive than PID in this system.The paper studies and designs the driving circuits for electric-hydraulic servo valve and electric-magnetism valve. The author develops two kinds of unattached control system which based on the PC and MCU respectively. The control system based on the PC provide interface friendly which is developed by VC++ 6.0, in which control strategy is embedded. The control system based on the M16 also provide flexible control style which operate with potentiometers and the keyboard on the controller.At last, performance experiments for the manipulator and automatic toolkit are carried out which include dynamic and static characteristic. Test results indicate that the control system is able to meet the demand of mating and exchanging between the manipulator and the toolkit completely.