Research On Pressure Adaptive Controllers For Deep-Sea Underwater Hydraulic Manipulator Drive System

This thesis investigates pressure adaptive controller for deep-sea hydraulic underwater manipulator, including ECU control unit, brushless DC motor controller and the proportional control amplifier. According to the controller design requirements for underwater manipulator, three types of controller hardware circuitries and their control software programs have been developed; because of the special operating environment in deep sea, the reliability and ability of resistant to high pressure in deep sea of controller shouled be considered; for the proportional valve box and brushless DC motor cabin space is limited, controller developed should be smaller and integrated.The performance of these three types of controllers were tested through bear high pressure test, aging test, debug and joint test. The result shows that three adaptive controller can meet the high pressure, humidity and other harsh environment of the operational requirements in deep-sea. Moreover, the hareware and software of the controllers can also meet the requirements of stability and reliability for underwater manipulator in deep sea.The thesis contains 7 chapters,and their contents are as follows:Chapter 1, describes the research background and the development of international and demostic underwater hydraulic manipulator, on the basis of the characteristics and overall composition of the underwater manipulator hydraulic drive system, gives the significance of this research projects and research content.Chapter 2, firstly, starts from the constitution of hydraudic drive system, it should develop three pressure adaptive controller; secondly, proposed the requirements of high pressure resistance, reliability and intergrity of these controllers; finally, raised software development environment of the controllers.Chapter 3, details the selection of anti-stress components fot the electronic control system, such as filter capacitor, capacitor of power module and function modules, etc;,and the signal feedback sensor with its structure modification for special working environment.Chapter 4, describes the achievements of integrated structure and function, base on the function requirements of overall control system for under water manipulator, select propriate ICs and optimize the design of PCB for limited loading space.Chapter 5, describes the closed-loop control of the control system, including current closed-loop of proportional control amplifier, position closed-loop of manipulator, speed closed-loop and current closed-loop of motor; Proposed a set of corresponding control program for closed loop control. Chapter 6, describes the bear high pressure test, aging test, debug and joint test of three controllers, with experimental metnods. equipments and results included.Chapter 7, summarizes the main findings of the subject, and puts forward prospect of this research.