Research On Position Servo Control Of Deep-sea Manipulator

Due to the thriving ocean exploration nowadays, deep-sea operations have been indispensable parts in ocean exploring projects. Manipulator is an predominant facility that enable Autonomous underwater vehicles(AUV) and Remote Operation Vehicles(ROV) to fulfill complicated missions beneath the surface instead of human being. This thesis is concerning with the development of the position servo control system based on a specific 2-functional deep-sea robotic hand.First, the thesis introduces the structure of the robotic hand system, analyzes the principle, then chooses a proper way of driving and establishes the mathematic model of the joint servo system. After that, it employs an"up-bottom"two level system frame for the supervision-control structure.Second, comparing with the conventional singlechip and DSP control system, the thesis makes use of PC104 and RTOS: VxWorks as the hardware and software foundations for application development. Focusing on the Brushless DC torque motor, the Position-Speed close loop controller is designed and the position servo control is realized through multiple control algorithms. In the condition of maintaining the stability, the control result is analyzed when the system is suffered interference, and the improvement methods are proposed.Third, the thesis details the realization of two level system frames for the supervision-control structure which is including the Hall positon feedback and network communication. Meanwhile, the realtime multi-task program frame and the method of building the upper supervision program developed by Visual C++6.0 are presented. At last, the process of debugging and part of experiments are presented and analyzed for demonstrating the design efficiency of the control system.