| As the main tool for the development of marine resources,autonomous underwater vehicles have gradually become a piece of important technical equipment for countries around the world to safeguard national marine rights and interests.With the continuous deepening of human exploitation of marine resources and the complex and diverse factors of the seabed environment,the single autonomous underwater vehicle is not competent for related tasks.As a new type of ocean development tool multi-joint underwater vehicle has become a trend in underwater vehicle development.As the design core of the underwater vehicle,the performance of the control system directly affects the quality of the robot.Therefore,this paper focuses on the design of the control system for the multijoint underwater vehicle,mainly including kinematics analysis,dynamics modeling,control algorithm research,software and hardware design,prototype development and experimental verification.Firstly,two single autonomous underwater vehicles are designed,which are composed of four DOF multi-joint underwater vehicles with passive joints connected in series.Their models are established,forward and inverse kinematics are analyzed,and simulation verification is carried out.At the same time,the simple dynamic model of multi-joint and single underwater vehicle and the simulation of cascade PID control algorithm are studied.Secondly,the software and hardware design of the control system for multi-joint autonomous underwater vehicle is completed.In terms of hardware system,the hierarchical control mode of "core controller & node controller" and the communication mode of "star network structure" are designed;Open-source hardware is used to reduce development difficulty and development cost;Select and design the load equipment carried by the robot and conduct secondary development of open source hardware based on the selected load.In terms of software system,it is built based on the MOOS system,and the control system is divided into supervision layer,mission layer,execution layer and equipment layer;The software design and test of the loading equipment of the robot are carried out respectively.Finally,a prototype of a single autonomous underwater vehicle facing multiple joints is developed,which has a diameter of 3 inches,a length of 1 m,and a mass of 3 kg in the air;The indoor pool test,Qipanshan lake test and Dalian Sea test were carried out for the single underwater robot,and the robot was asked to perform different tasks of horizontal orientation,vertical depth determination and autonomous return.Through many tests,the stability and integrity of the control system designed in this paper were fully verified. |
