水下监测机器人研制

发布时间：2018-11-28 18:15

【摘要】：随着陆地资源的逐渐匮乏,各国不遗余力地进行海洋探索和研究。部分海域的特殊地形,让潜水员无法触及,于是水下机器人应运而生。以开架式水下机器人为载体,配合高性能的微处理器和周边传感器,研究了水下机器人的定深潜航和特殊姿态航行,并配备压水仓,让水下机器人更加节能。首先,简单介绍了国内外水下机器人的研究现状。概述了水下机器人的研究背景,对于海洋探索的重要性,以及世界各国的研发状况。简要说明了我国水下机器人取得的科研成果。接着,分析了水下机器人的体系结构。目前,水下机器人比较通用的体系结构为时空分解体系结构。结合这种递阶体系结构,引出感知层、运算层、控制层三层结构的POC体系结构。这种体系结构的感知层在紧急状态下可以直接发送紧急指令给控制层,避免系统的延时性的,提高了体系结构的可靠性。然后,采用最新的深度传感器和姿态传感器,利用目前较为主流的Cortex-M4架构的微处理的核心控制电路,并研制新型推进器。让体系结构的每一层得以物理实现。最后,优化水下机器人机械结构,合理分配推进器布局,高度集成化硬件电路。通过水下机器人受力基础分析和基本的动力学探究,针对水下机器人的特殊运动特性,采用PID控制器对六个推进器和一个压水仓进行控制。通过实际试验验证了优化布局后的水下机器人可以实现6自由度运动,并且更加节能。为水下机器人的研发提供了新的方案。
[Abstract]:With the gradual scarcity of land resources, countries spare no effort in marine exploration and research. The special terrain in some parts of the sea is untouchable to divers, so underwater vehicles come into being. Based on open-shelf underwater vehicle (OUV), with high-performance microprocessor and peripheral sensor, the underwater vehicle's constant depth submersible navigation and special attitude navigation are studied, and the underwater vehicle is equipped with pressurized water silo to save energy more. Firstly, the research status of underwater vehicle at home and abroad is briefly introduced. The research background of underwater vehicle, the importance of ocean exploration, and the research and development situation of countries in the world are summarized. The scientific research achievements of underwater vehicle in China are briefly described. Then, the architecture of underwater vehicle is analyzed. At present, the common architecture of underwater vehicle is space-time decomposition architecture. Combined with this hierarchical architecture, the POC architecture with three layers of perceptual layer, operational layer and control layer is introduced. The perceptual layer of the architecture can directly send emergency instructions to the control layer in a state of emergency to avoid the delay of the system and improve the reliability of the architecture. Then, using the latest depth sensor and attitude sensor, using the core control circuit of micro-processing of the current mainstream Cortex-M4 architecture, a new type of propeller is developed. Physical implementation of each layer of the architecture. Finally, the mechanical structure of underwater vehicle is optimized, the configuration of propeller is allocated rationally, and the hardware circuit is highly integrated. Based on the analysis of the basic force and dynamics of underwater vehicle, the PID controller is used to control six propellers and a pressurized silo in view of the special motion characteristics of underwater vehicle. The experimental results show that the underwater vehicle with optimized layout can achieve 6 degrees of freedom and save energy. It provides a new scheme for the research and development of underwater vehicle.
【学位授予单位】：南京信息工程大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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