Design Of The Docking Device Of The Underwater Vehicle And Research On Its Control System

With the depletion of natural resources on land,the development and utilization of marine resources is becoming more and more important.Underwater vehicles are important tools for human exploration and development of the ocean,but they have insufficient endurance.Underwater docking devices are an important means of energy replenishment for underwater vehicles,so it is necessary to develop reliable docking devices to broaden the scope of their operations.In this paper,the underwater docking device of underwater vehicle is studied from two aspects of mechanical structure and control system.First of all,this paper studies the overall scheme of the underwater docking device according to the technical requirements of the underwater docking device.The mechanical structure of the capture device and the underwater vehicle is designed for the working environment and mission requirements of the capture device and the underwater vehicle.Secondly,this paper demonstrates the overall scheme of the control system and determines the control process.Thirdly,based on Qt,the development of the host computer control platform is carried out;for the functional requirements of the recovery process for the lower computer,the software system and hardware system of the lower computer controller are studied.Finally,in order to understand the performance of the underwater docking device,land test and underwater test were carried out.The test results show that the underwater docking device designed in this paper can be docked accurately and reliably with the underwater vehicle,which lays a solid foundation for the subsequent recycling work.