Design On Mobile Platform Control System In Ocean Environment Monitoring

With the expanding of the offshore oil exploration and the aged initial equipment,the risk of oil spilling pollution is increasing. Detection, recognition, supervision, and processing of ocean pollution become the most important research subject for coastal countries. Fixed monitoring network and mobile monitoring network are generally adoptted in oil spilling supervision. In this thesis, mobile platform for monitoring equipment in mobile monitoring network is mainly studied. The mobile platform is equipped for monitoring equipment. The task involves:design of hardware control system, analysis of the mobile platform movement and research of control algorithmTheoretical analysis for mobile platforms is proceed in this paper. Kinematics of mobile platforms is established in the inertial coordinate system and body-fixed coordinate system; Sliding mode controller is used to achieve planned path tracking and obstacle avoidance controling is achieved by designing of fuzzy controller.In this thesis, the ship form carrying platform is selected as research subject and hardware control system is designed based on application requirements. Hardware system includes:motion control module for main drive motor and servo controlling; Motion parameter measurement module for data acquisition of steering angle, motor speed and hull posture; Wireless communication module for motion parameters’ detecting and transmitting; Collision avoidance module for ultrasonic distance detection; Display module for online real-time data display; remote control module for system remote control input; GPS positioning module for position measurement of mobile platform. Circuit board is designed to realize switchover between automatic control and manual control.The STM32F103 board is equipped as core of control system to ensure above function modules work harmoniously.To meet the application requirements of the maritime mobile monitoring platform, the hardware control system is designed, and the PCB production is Completed. The function of each module is realized by programming on the basic of analysis of application requirement. MATLAB and Simulink were adopted to simulate above algorithm. The result verified the correctness and effectiveness of the corresponding controller algorithm. The above work has laid foundation for further study of the mobile monitoring platform on both hardware and theory.