Design And Research On Eebedded PC Based Central Control System For The Underwater AUV Docking Station

The importance of research on the Junction Box in seafloor observatory networks has become increasingly prominent.It can provide power for undersea equipments and transfer real-time data to the Internet,thus realize continuously observation of marine environment.However seafloor observatory network is static,so observation scope is limited.AUVs(Autonomous Underwater Vehicles)can automatically work underwater,thus is able to realize the dynamic observation of marine environment.However the AUV is electrically powered,so the work scope is very limited.Seafloor observatory network combined with AUVs,can realize 3D observation of marine environment.In this thesis,an embeded PC based central control system for the underwater AUV docking station supported by the National High-tech R&D Program(863 Program)"Autonomous underwater vehicle docking system for cabled ocean observatory" is discussed.The system covers wireless communications,remote monitoring,power transmission control and navigation control between docking station and AUV,is used to support the docking mission of contactless power transmission and wireless communication transmission.With CX5020 series embed PC is worked as the control center of the system,which can realize wireless communications between docking station and AUV.It can monitor the internal environment variables,including voltage and current of ICPT(Inductive Coupling Power Transfer).The temperature,humidity and leakage parameters in the case are also monitored.It can also monitor the external environment variables,including flow direction and speed.Beyond that,the system can monitor the posture of dock station,the position and heading of AUV.The system can alo realize centralized control to underwater motor,solenoid,underwater lights,and the power switch.The selection of sensors and actuators,including ADCP,USBL,wifi antenna,electromagnet,relays,underwater lamp and underwater motor,is discussed.Peripheral circuits of the system such as environmental state detection circuits and voltage and current sensing circuits are also discussed.Design the strategy of docking station auxiliary control system for AUV homing navigation and contactless power transfer control system.Designing of PC software system based on the WinCC configuration software is established.The HMI can visualize the monitoring data of the docking system and realize the centralized control to underwater motor,solenoid,underwater lights,and the power switch.And then,key modular experiments for the hardware and software,as well as the joint commissioning and running tests were conducted to verify the practicality and reliability of the system.At last a summary and outlook of the research are given.