Research On Control To Power Thruster System Of Deepwater Robot Based On OS μC/OS-Ⅱ And Chaos Detection

With the development of marine exploration,the more hazardous and complicated working environment sets a higher demand to the control of propulsion device in Deepwater Robot.The traditional controls fail to meet the requests of the Brushless DC Motor used as the main propulsion device in Deepwater Robot,and it lies particularly in two aspects:the poor real-time and the low level of intellectualization,consequently,the research on designing a control system of propulsion device in Deepwater Robot based on its characteristics is of very important practical significance.This topic comes from the projects funded by Liaoning Provincial Science and Technology Fund(20031023) and Liaoning Provincial science and technology Focused projects(2005216010),we designed an embedded control system of BLDCM,which used microcontroller DSP as the core of hardware and real-time OSμC/OS-Ⅱas the platform of the software,on this basis it has the Function of real-time detection to the chaotic phenomena of propulsion system.The practical work of this topics are mainly in the following three aspects:Firstly,on hardware design,we choosed TMS320LF2407A chip of TI company as the main control unit,which has the advantages including high level of integration and high speed,the control system posed by it with the fewer external circuit and faster computing procedure has Reliability and efficiency.Secondly,on software design,we choosed embedded real-time multi-task Operating SystemμC/OS-Ⅱas the interface platform between the underlying hardware and upper application control programmer,By dividing users programmer into several tasksμC/OS-ⅡOS implements the scheduling and Management of different tasks in accordance with the terms.The embedded control system can schedule the corresponding tasks according to change of working environment of the ocean robot in order to achieve the real-time response to the external environment,therefore,comparing with traditional sequent structure of the control programmer,this control system,has more real-time processing capabilities and higher level of intelligence.Finally,the Deepwater Robot working in about 1000 meters deep underwater,the chaos phenomenon in Its propulsion device is likely to bring the whole robot irreparable consequences in an instant,thus,the function to detect chaotic phenomena is an integral part to perfect control system of Deepwater Robot.We completed chaotic detection programmer by using Takens theorem to reconstruct and Wolf theorem to calculated Lyapunov exponent,and by embedding detection programmer in its internal system clock, we synchronized it with OS and achieved the real-time detection of Chaotic Phenomenon.