CN111221277A - Propulsion control system and method for full-sea-depth autonomous remote-control submersible vehicle - Google Patents
Propulsion control system and method for full-sea-depth autonomous remote-control submersible vehicle Download PDFInfo
- Publication number
- CN111221277A CN111221277A CN201811412871.9A CN201811412871A CN111221277A CN 111221277 A CN111221277 A CN 111221277A CN 201811412871 A CN201811412871 A CN 201811412871A CN 111221277 A CN111221277 A CN 111221277A
- Authority
- CN
- China
- Prior art keywords
- circuit
- propulsion
- motor
- control
- executing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 25
- 238000001514 detection method Methods 0.000 claims description 14
- 238000012360 testing method Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 23
- 239000013078 crystal Substances 0.000 description 8
- 230000006870 function Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 239000003921 oil Substances 0.000 description 5
- 238000005070 sampling Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000002955 isolation Methods 0.000 description 3
- 101150063504 CAN2 gene Proteins 0.000 description 2
- 101150008604 CAN1 gene Proteins 0.000 description 1
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention relates to a propulsion control system for a full-sea-depth autonomous remotely operated vehicle, comprising: the system comprises a singlechip minimum system circuit, a CAN transceiver circuit, a serial port transceiver circuit and a relay control circuit. The propulsion control circuit board is soaked in oil and can bear 120Mpa pressure, and electronic components used on the propulsion control circuit board are screened by a pressure test; the single chip microcomputer used in the invention adopts a control chip based on a Cortex-M4 kernel, and has the advantages of strong function, low power consumption, rich resources, strong expandability and the like, so that not only one path of CAN network is used for controlling the motor, but also the other path of CAN network is used for communicating with a navigation control computer; the invention uses the EEPROM of the singlechip to record the current steering engine angle before the propulsion system is powered off and read the record after the propulsion system is powered on again, and has the advantages of simple circuit and high precision.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to a propulsion control system and a method for a full-sea-depth autonomous remote-control submersible vehicle.
Background
An Autonomous remote controlled Vehicle (ARV) in full sea depth is a novel unmanned Vehicle, which integrates the advantages of a remote controlled underwater Robot (ROV) and an Autonomous underwater robot (AUV), not only has the capability of large-scale underwater search and detection like the AUV, but also can complete sampling operation by real-time remote control through an optical fiber micro cable like the ROV. Due to the diversity of the working modes and the quick switchable function, the ARV has the comprehensive advantages of safety, high efficiency, flexibility and convenience.
The existing underwater robot propulsion control circuit board can not be applied to a full-sea-depth autonomous remote control submersible, and the main reasons are three: firstly, the oil pressure of 120Mpa cannot be borne; secondly, a propulsion control system of the full-sea-depth autonomous remote control submersible needs to control 6 propulsion motors, 2 steering engines and 2 door opening motors at the same time, and an existing underwater robot propulsion control circuit board basically controls the motors in a serial port mode due to limited single chip microcomputer resources, so that the existing scheme cannot meet requirements; thirdly, the existing propulsion control circuit board basically adopts a method of rotating a potentiometer and an A/D sampling circuit to store and read the angle of the steering engine, an additional circuit needs to be added in the method, and the precision is greatly influenced by the rotating potentiometer and the A/D sampling precision.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a propulsion control system and a method for a full-sea-depth autonomous remote-control submersible vehicle, which can bear the oil pressure of 120Mpa, have rich single-chip microcomputer resources and can meet the control requirements of the full-sea-depth autonomous remote-control submersible vehicle.
The technical scheme adopted by the invention for realizing the purpose is as follows:
a propulsion control system for a full-sea-depth autonomous remotely operated vehicle, comprising:
the minimum system circuit of the single chip microcomputer comprises the single chip microcomputer, an active crystal oscillator circuit, a reset circuit, a single chip microcomputer power supply circuit and a JTAG program programming circuit;
the CAN transceiver circuit comprises a first CAN transceiver circuit and a second CAN transceiver circuit, one end of the first CAN transceiver circuit is connected with the navigation control computer and receives a CAN instruction sent by the navigation control computer, and the other end of the first CAN transceiver circuit is connected with the singlechip minimum system circuit through a first CAN port and sends the CAN instruction to the singlechip minimum system circuit; one end of the second CAN transceiver circuit is connected with the external driver and receives state information fed back by the external driver; the other end of the second CAN port is connected with the singlechip minimum system circuit and sends the state information to the singlechip minimum system circuit;
the serial port receiving and transmitting circuit is connected with the minimum system circuit of the single chip microcomputer through a debugging serial port and serves as a standby program programming port;
and one end of the relay control circuit is connected with the minimum system circuit of the single chip microcomputer through a relay control port, the other end of the relay control circuit is connected with an external driver, when the relay control end connected with the single chip microcomputer outputs a low level, the relay is in a conducting state, and the output end of the relay connected with the external motor driver outputs +24VDC, so that the motor driver is controlled to be powered on.
The external motor is a propulsion motor and comprises a left side main push motor, a right side main push motor, a left side vertical push motor, a right side vertical push motor, a front side motor and a rear side motor.
The outside driver includes steering wheel driver and door opening motor driver, the steering wheel driver includes left side steering wheel driver and right side steering wheel driver, the motor driver that opens the door includes left side door opening motor driver and right side door opening motor driver.
The water leakage detection circuit is connected with the minimum system circuit of the single chip microcomputer through a water leakage detection serial port, when water leakage is detected, the water leakage end of the water leakage detection circuit is pulled down, the pin connected with the single chip microcomputer is pulled down, and the single chip microcomputer sends out water leakage alarm after detecting low level.
The state information comprises real-time angle, real-time current, real-time voltage and real-time motor fault information.
A propulsion control method for a full-sea-depth autonomous remotely operated vehicle, comprising the steps of:
step 1: initializing, namely reading the steering engine angle before last power-off saved in the EEPROM;
step 2: if the first CAN transceiver circuit receives a CAN command sent by the navigation control computer, analyzing the command and executing the step 3, otherwise, directly executing the step 3;
and step 3: if the second CAN transceiver circuit receives the state information fed back by the control motor, analyzing the state information and executing the step 4, otherwise, directly executing the step 4;
and 4, step 4: if the timer in the single chip enters interruption, executing step 5, otherwise returning to step 2;
and 5: if the control cycle of the steering engine and the door opening motor is entered, executing the step 6; otherwise, executing step 7;
step 6: judging whether a steering engine angle storage instruction sent by a navigation control computer is received or not, if so, sending an instruction to a steering engine through a second CAN (controller area network) transceiver circuit, executing steering engine stalling and storing a current rudder angle in an EEPROM (electrically erasable programmable read-only memory), sending a target angle instruction to 2 steering engines and 2 door opening motors respectively according to a control instruction sent by the navigation control computer, and simultaneously reading state information of the 2 steering engines and the 2 door opening motors;
and 7: if entering the control cycle of the propulsion motors, respectively controlling the rotating speeds of 6 propulsion motors, reading the state information of the 6 propulsion motors, and executing the step 8; otherwise, directly executing the step 8;
and 8: and if the state feedback period is entered, feeding back the state information and the water leakage information of the propulsion cabin to the navigation control computer at regular time, and returning to the step 2.
The state information comprises real-time angle, real-time current, real-time voltage and real-time motor fault information.
The invention has the following beneficial effects and advantages:
1. the propulsion control circuit board adopts a control chip based on a Cortex-M4 inner core, the chip has rich resources, CAN be communicated with a navigation control computer through one CAN bus, and CAN also control a plurality of propulsion motors, steering engines and door opening motors through the other CAN bus, so that the control of the motors CAN be realized only by six connecting wires (GANH, CANL and GANG), the communication with the navigation control computer is realized at the same time, and the complexity of a propulsion control system is reduced.
2. The propulsion control circuit board uses the EEPROM of the singlechip to store the angle of the steering engine, and reads the value when the singlechip is electrified again for controlling the steering engine. Compared with a widely used method of rotating a potentiometer and adding an A/D sampling circuit, the method has the advantages of simpler circuit and higher precision.
Drawings
FIG. 1 is a block diagram of a propulsion control system;
FIG. 2 is a diagram of a single chip microcomputer;
FIG. 3 is a serial port transceiver circuit diagram;
FIG. 4 is a CAN transceiver circuit diagram;
FIG. 5 is a relay control circuit diagram;
FIG. 6 is a water leakage detection circuit diagram;
FIG. 7 is a flow chart of the method of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanying the drawings are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as modified in the spirit and scope of the present invention as set forth in the appended claims.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The use of the terms "front," "back," "left," "right," and similar designations herein is for purposes of illustration and does not represent a unique embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Fig. 1 shows a structure of a propulsion control system.
The invention is connected with 2 steering engine drivers, 2 door opening motor drivers, 6 propelling motors and a navigation control computer outside a propulsion control system respectively.
The propulsion control system and the navigation control computer perform data interaction through a CAN bus, the navigation control computer sends a control instruction to the propulsion control system, and the propulsion control system analyzes the control instruction after receiving the control instruction and becomes control quantity of a steering engine, a door opening motor, a propulsion motor and the like. Meanwhile, the propulsion control system feeds back the state information of the steering engine, the door opening motor, the propulsion motor and the like controlled by the propulsion control system to the navigation control computer through the CAN bus.
The communication between the propulsion control system and the steering engine, the door opening motor and the propulsion motor is completed through the other CAN bus, on one hand, the propulsion control system sends the control quantity to the steering engine, the door opening motor and the propulsion motor through the CAN bus, and on the other hand, the steering engine, the door opening motor and the propulsion motor report the respective state information to the propulsion control system through the CAN bus. Before the system is powered off, the propulsion control system records the steering engine angle in the EEPROM and reads the angle when the system is powered on next time.
The propulsion control system controls the power supply of the steering engine and the door opening motor through a relay circuit.
The propulsion control system detects the water leakage condition in the propulsion cabin through the water leakage detection circuit and reports the water leakage condition to the navigation control computer.
In order to realize the functions, the propulsion control system comprises a singlechip minimum system circuit, a serial port transceiver circuit, two paths of CAN transceiver circuits, a relay control circuit and a water leakage detection circuit.
The propulsion control circuit board comprises a singlechip minimum system circuit, and a serial port transceiver circuit, two CAN transceiver circuits, a relay control circuit and a water leakage detection circuit which are connected with the singlechip minimum system circuit. The serial port receiving and transmitting circuit is mainly used for debugging the propulsion control circuit board. One path of the two CAN transceiver circuits is connected with a navigation control computer, and the other path of the two CAN transceiver circuits is connected with 2 steering engine drivers, 2 door opening motor drivers and 6 propelling motors. The relay circuit is connected with 2 steering engine drivers and 2 door opening motor drivers. The water leakage detection circuit is connected with the water leakage sensor. The propulsion control circuit board is soaked in oil and can bear 120Mpa pressure, and electronic components used on the propulsion control circuit board are screened through pressure tests.
The propulsion control circuit board is soaked in oil and can bear 120Mpa pressure, and electronic components used on the propulsion control circuit board are screened by a pressure test; the single chip microcomputer used in the invention adopts a control chip based on a Cortex-M4 kernel, and has the advantages of strong function, low power consumption, rich resources, strong expandability and the like, so that not only one path of CAN network is used for controlling the motor, but also the other path of CAN network is used for communicating with a navigation control computer; the invention uses the EEPROM of the singlechip to record the current steering engine angle before the propulsion system is powered off and read the record after the propulsion system is powered on again, and has the advantages of simple circuit and high precision.
As shown in fig. 2, which is a structure diagram of a single chip microcomputer, the output +3.3V, GND of the power conversion circuit in fig. 2(c) is respectively connected with the output +3.3V, GND in fig. 2 (b); the power supply +3.3V, GND of the active crystal oscillator in fig. 2(d) is connected to +3.3V, GND in fig. 2(c), and the output xl1 of the crystal oscillator is connected to pin xl1 in fig. 2 (b); the power supply +3.3V, GND in fig. 2(e) is connected with the +3.3V, GND in fig. 2(c), the TCK, TMS, TDI and TDO in fig. 2(e) are respectively connected with the name pins corresponding to the pins 115-118 in the single chip microcomputer in fig. 2(a), and the TRESET pin in fig. 2(e) is connected with the pin 90 in fig. 2 (b).
The minimum system circuit of the single chip microcomputer comprises the single chip microcomputer, an active crystal oscillator circuit, a reset circuit, a single chip microcomputer power supply circuit and a JTAG program programming circuit.
Fig. 2(a) is a circuit diagram of a port of a single chip microcomputer, and a control chip-TITM 4CH123GH6PGE based on a Cortex-M4 kernel is selected, so that the invention has the advantages of strong function, low power consumption, rich resources, strong expandability and the like, and CAN provide 2 independent CAN control ports.
Fig. 2(b) is a connection circuit diagram of the minimum system of the single chip microcomputer, which comprises a crystal oscillator circuit connection diagram, a reset circuit connection diagram, a power supply circuit connection diagram and a JTAG program programming circuit connection diagram.
As shown in fig. 2(c) which is a circuit diagram of a single chip microcomputer power supply 5V-3.3V conversion circuit, the single chip microcomputer control voltage is 3.3V, and the invention adopts a TPS73633 chip to complete the 5V-3.3V conversion.
As shown in fig. 2(d), the active crystal oscillator circuit diagram is shown, and since the application environment of the present invention is a strong oil pressure environment of 120Mpa, the components are all voltage-resistant devices, and the external crystal oscillator of the single chip microcomputer adopts a time active silicon crystal oscillator.
FIG. 2(e) is a JTAG circuit diagram; the JTAG interface circuit is used for programming the program of the single chip microcomputer.
Fig. 3 shows a serial port transceiver circuit diagram. Pins U0RX and U0TX of the 8 and 9 pins U0 and U0 of the ADM3251E chip of FIG. 3 are connected to pins 37 and 38, respectively, of the chip of FIG. 2 (a).
The ADM3251E is adopted to complete the serial port transceiving circuit, and the chip not only can complete the serial port transceiving function, but also realizes the signal isolation and ensures the safety of the main chip.
Fig. 4 shows a CAN transceiver circuit diagram. CAN0TX and CAN0RX in FIG. 4(a) are respectively connected with pins 135 and 136 of the single chip microcomputer in FIG. 2 (a); the CAN1TX and CAN1RX in fig. 4(b) are respectively connected with the pins 134 and 133 of the single chip microcomputer in fig. 2 (a).
The communication between the navigation control computer and the control motor is realized by CAN bus, fig. 4(a) is a CAN transceiver circuit diagram for communication with the navigation control computer, fig. 4(b) is a CAN transceiver circuit diagram for communication with the motor, and a CAN transceiver chip adopts ZLG CTM1050T, and the chip is simple and reliable to use and CAN realize signal isolation.
Fig. 5 shows a relay control circuit diagram. The ON pin corresponding to R38 in fig. 5 is connected to the pin 48 of the single chip microcomputer in fig. 2(a), and the FB/SIG pin in fig. 5 is connected to the pin 59 of the single chip microcomputer in fig. 2 (a).
In order to realize the power-on control of the steering engine and the door opening motor, the invention is provided with a relay control circuit. FIG. 5(a) is a current driving circuit diagram, the invention adopts ULN2003LV, the circuit is used for enhancing the driving capability of the singlechip control signal so as to drive the relay; fig. 5(b) is a relay control circuit, the relay adopted in the invention is an isolation relay designed for independent research and development, the maximum load driving current is 10A, the control end adopts a pull-up resistor, when the driving signal is at a low level, the relay is conducted, one end of the output end is connected with 24VDC, and the other end is connected with a steering engine power supply and a door opening motor power supply.
Fig. 6 shows a water leakage detection circuit diagram. OUT in fig. 6 is connected to pin 88 of the chip microcomputer in fig. 2 (a).
The circuit has been applied to various underwater robot water leakage detection for many times before.
Fig. 7 shows a flow chart of the method of the present invention.
1) Initialization: the method comprises the steps of initializing a single chip microcomputer system and initializing each port, wherein the steps comprise IO port initialization, serial port initialization, CAN port initialization, EEPROM initialization and the like;
2) the relay is controlled to be opened through the relay control circuit to electrify the steering engine and the door opening motor;
3) reading the steering engine angle before last power-off saved in the EEPROM;
4) judging whether the CAN1 receives a CAN command sent by a navigation control computer, if so, analyzing, and then entering the step (5), if not, directly entering the step (5);
5) judging whether the CAN2 has the state information fed back by the control motor, if so, entering an analysis function for analysis, and then entering the step (6), if not, directly entering the step (6);
6) and judging whether to enter timer interruption or not. In order to save system resources of the single chip microcomputer, judgment is carried out in a main cycle, when a timer starts to enter interruption, the step (7) is carried out to carry out corresponding data processing, and if not, the step (4) is returned;
7) and timing by using a timer of the singlechip, entering a control period of the steering engine and the door opening motor every 300ms, and judging whether to enter the control period of the steering engine and the door opening motor. If yes, executing step (8), and if not, executing step (12);
8) judging whether an instruction for saving the steering engine angle sent by a navigation control computer is received or not, if so, executing the step (9), and if not, executing the step (10);
9) sending an instruction to a steering engine through a CAN2 network, executing steering engine stalling and storing a current steering angle in an EEPROM;
10) respectively sending target angle instructions to 2 steering engines and 2 door opening motors according to control instructions sent by a navigation control computer, wherein a rudder angle sent to the steering engines is a target rudder angle sent by the navigation control computer, and the target rudder angle is read by an EEPROM (electrically erasable programmable read-only memory);
11) and reading the state information of 2 steering engines and 2 door opening motors. Including real-time angle, real-time current, real-time voltage, and real-time status;
12) timing by using a timer of the singlechip, entering a control period of the propulsion motor every 100ms, judging whether to enter the control period of the propulsion motor, if so, executing the step (13), and otherwise, executing the step (15);
13) respectively sending target rotating speed control instructions to 6 propelling motors according to the control instructions sent by the navigation control computer;
14) respectively reading state information of 6 propulsion motors, including real-time rotating speed, real-time current, real-time voltage and real-time state information;
15) timing by using a timer of the singlechip, entering a state feedback period every 500ms, judging whether to enter the state feedback period, if so, executing the step (16), otherwise, returning to execute the step (4);
16) feeding back state information including angles, currents, voltages and states of 2 steering engines and 2 door opening motors to a navigation control computer at regular time; the rotating speed, current, voltage and state of 6 propelling motors; water leakage status information of the propulsion pod. And (4) returning to the step.
Claims (7)
1. A propulsion control system for a full-sea autonomous remotely operated vehicle, comprising:
a singlechip minimum system circuit;
the CAN transceiver circuit comprises a first CAN transceiver circuit and a second CAN transceiver circuit, one end of the first CAN transceiver circuit is connected with the navigation control computer and receives a CAN instruction sent by the navigation control computer, and the other end of the first CAN transceiver circuit is connected with the singlechip minimum system circuit through a first CAN port and sends the CAN instruction to the singlechip minimum system circuit; one end of the second CAN transceiver circuit is connected with the external driver and receives state information fed back by the external driver; the other end of the second CAN port is connected with the singlechip minimum system circuit and sends the state information to the singlechip minimum system circuit;
the serial port receiving and transmitting circuit is connected with the minimum system circuit of the single chip microcomputer through a debugging serial port and serves as a standby program programming port;
and one end of the relay control circuit is connected with the minimum system circuit of the single chip microcomputer through a relay control port, and the other end of the relay control circuit is connected with an external driver to control the external driver to be electrified.
2. The propulsion control system for a full-sea-depth autonomous remotely operated vehicle according to claim 1, characterized in that: the external motor is a propulsion motor and comprises a left side main push motor, a right side main push motor, a left side vertical push motor, a right side vertical push motor, a front side motor and a rear side motor.
3. The propulsion control system for a full-sea-depth autonomous remotely operated vehicle according to claim 1, characterized in that: the outside driver includes steering wheel driver and door opening motor driver, the steering wheel driver includes left side steering wheel driver and right side steering wheel driver, the motor driver that opens the door includes left side door opening motor driver and right side door opening motor driver.
4. The propulsion control system for a full-sea-depth autonomous remotely operated vehicle according to claim 1, characterized in that: the water leakage detection circuit is connected with the minimum system circuit of the single chip microcomputer through a water leakage detection serial port, when water leakage is detected, the water leakage end of the water leakage detection circuit is pulled down, the pin connected with the single chip microcomputer is pulled down, and the single chip microcomputer sends out water leakage alarm after detecting low level.
5. The propulsion control system for a full-sea-depth autonomous remotely operated vehicle according to claim 1, characterized in that: the state information comprises real-time angle, real-time current, real-time voltage and real-time motor fault information.
6. The propulsion control method for a full-sea-depth autonomous remotely operated vehicle according to any of the systems of claims 1 to 5, comprising the steps of:
step 1: initializing, namely reading the steering engine angle before last power-off saved in the EEPROM;
step 2: if the first CAN transceiver circuit receives a CAN command sent by the navigation control computer, analyzing the command and executing the step 3, otherwise, directly executing the step 3;
and step 3: if the second CAN transceiver circuit receives the state information fed back by the control motor, analyzing the state information and executing the step 4, otherwise, directly executing the step 4;
and 4, step 4: if the timer in the single chip enters interruption, executing step 5, otherwise returning to step 2;
and 5: if the control cycle of the steering engine and the door opening motor is entered, executing the step 6; otherwise, executing step 7;
step 6: judging whether a steering engine angle storage instruction sent by a navigation control computer is received or not, if so, sending an instruction to a steering engine through a second CAN (controller area network) transceiver circuit, executing steering engine stalling and storing a current rudder angle in an EEPROM (electrically erasable programmable read-only memory), sending a target angle instruction to 2 steering engines and 2 door opening motors respectively according to a control instruction sent by the navigation control computer, and simultaneously reading state information of the 2 steering engines and the 2 door opening motors;
and 7: if entering the control cycle of the propulsion motors, respectively controlling the rotating speeds of 6 propulsion motors, reading the state information of the 6 propulsion motors, and executing the step 8; otherwise, directly executing the step 8;
and 8: and if the state feedback period is entered, feeding back the state information and the water leakage information of the propulsion cabin to the navigation control computer at regular time, and returning to the step 2.
7. The propulsion control method for a full-sea-depth autonomous remotely operated vehicle according to claim 6, wherein the status information includes real-time angle, real-time current, real-time voltage, and motor real-time fault information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811412871.9A CN111221277A (en) | 2018-11-23 | 2018-11-23 | Propulsion control system and method for full-sea-depth autonomous remote-control submersible vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811412871.9A CN111221277A (en) | 2018-11-23 | 2018-11-23 | Propulsion control system and method for full-sea-depth autonomous remote-control submersible vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111221277A true CN111221277A (en) | 2020-06-02 |
Family
ID=70813591
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811412871.9A Pending CN111221277A (en) | 2018-11-23 | 2018-11-23 | Propulsion control system and method for full-sea-depth autonomous remote-control submersible vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111221277A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1677295A (en) * | 2005-01-07 | 2005-10-05 | 天津大学 | Underwate self-navigation platform control system |
| JP5281174B1 (en) * | 2012-04-26 | 2013-09-04 | 三菱電機株式会社 | Ship control system and ship equipped with the same |
| CN103631174A (en) * | 2012-08-29 | 2014-03-12 | 中国科学院沈阳自动化研究所 | Miniature underwater robot propulsion control system and rudder control method thereof |
| WO2015081773A1 (en) * | 2013-12-04 | 2015-06-11 | 浙江中科德润科技有限公司 | Submersible downhole controller and control method |
| CN106200446A (en) * | 2015-05-07 | 2016-12-07 | 中国科学院沈阳自动化研究所 | A kind of myriametre autonomous remote underwater robot propulsion control system and control method thereof |
| CN106877756A (en) * | 2017-03-21 | 2017-06-20 | 新疆大学 | Team control motor based on CAN drives door system |
| CN107526289A (en) * | 2016-06-21 | 2017-12-29 | 李福霞 | A kind of two redundancy actuator control systems based on CAN |
| CN107738623A (en) * | 2017-11-16 | 2018-02-27 | 聊城大学 | A kind of motor-driven low-speed pure electric automobile entire car controller of list and its control method |
| CN208848078U (en) * | 2018-11-23 | 2019-05-10 | 中国科学院沈阳自动化研究所 | A kind of propulsion control system for the deep autonomous remote-controlled vehicle in full sea |
-
2018
- 2018-11-23 CN CN201811412871.9A patent/CN111221277A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1677295A (en) * | 2005-01-07 | 2005-10-05 | 天津大学 | Underwate self-navigation platform control system |
| JP5281174B1 (en) * | 2012-04-26 | 2013-09-04 | 三菱電機株式会社 | Ship control system and ship equipped with the same |
| CN103631174A (en) * | 2012-08-29 | 2014-03-12 | 中国科学院沈阳自动化研究所 | Miniature underwater robot propulsion control system and rudder control method thereof |
| WO2015081773A1 (en) * | 2013-12-04 | 2015-06-11 | 浙江中科德润科技有限公司 | Submersible downhole controller and control method |
| CN106200446A (en) * | 2015-05-07 | 2016-12-07 | 中国科学院沈阳自动化研究所 | A kind of myriametre autonomous remote underwater robot propulsion control system and control method thereof |
| CN107526289A (en) * | 2016-06-21 | 2017-12-29 | 李福霞 | A kind of two redundancy actuator control systems based on CAN |
| CN106877756A (en) * | 2017-03-21 | 2017-06-20 | 新疆大学 | Team control motor based on CAN drives door system |
| CN107738623A (en) * | 2017-11-16 | 2018-02-27 | 聊城大学 | A kind of motor-driven low-speed pure electric automobile entire car controller of list and its control method |
| CN208848078U (en) * | 2018-11-23 | 2019-05-10 | 中国科学院沈阳自动化研究所 | A kind of propulsion control system for the deep autonomous remote-controlled vehicle in full sea |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102508302B (en) | Underwater main control and data collection system of marine double-frequency induced polarization instrument | |
| CN103631174B (en) | A kind of small underwater robot propulsion control system and rudder control method thereof | |
| CN107450396B (en) | A kind of autonomous navigation of unmanned boat and remote control navigation switching control module | |
| CN109471433B (en) | Course and attitude reference system based on polarization compass | |
| CN108375899B (en) | High-reliability wave glider control system | |
| CN103345257A (en) | Autopilot control system of underwater vehicle | |
| CN104615141A (en) | Control system of small autonomous underwater vehicle | |
| CN105479489A (en) | Modularized programmable on-chip system experimental device for robot | |
| CN116300984A (en) | Multifunctional intelligent control system for underwater vehicle | |
| CN102539182A (en) | Autonomous remotely-operated vehicle (ARV) fault diagnosis principal component analysis device | |
| CN203588074U (en) | Control system of small-scale autonomous underwater robot | |
| CN103869807A (en) | Fault diagnosis device for small underwater robot | |
| CN208848078U (en) | A kind of propulsion control system for the deep autonomous remote-controlled vehicle in full sea | |
| CN206877150U (en) | A kind of unmanned aerial vehicle control system and unmanned plane | |
| CN109484591B (en) | Modular driving circuit of underwater robot propeller and driving method thereof | |
| CN106200446A (en) | A kind of myriametre autonomous remote underwater robot propulsion control system and control method thereof | |
| CN111221277A (en) | Propulsion control system and method for full-sea-depth autonomous remote-control submersible vehicle | |
| CN202735762U (en) | Miniature underwater robot propulsion control system | |
| CN112859823A (en) | Control system and control method for full-sea-depth autonomous remote control underwater robot | |
| CN116500943A (en) | Redundant control system of underwater robot | |
| CN113467506B (en) | Domestic flight controller based on core board design and design method | |
| JP3121365U (en) | Peripheral device connecting device with boundary scan test function | |
| CN107521687B (en) | Control method of flying underwater vehicle | |
| CN207148553U (en) | One kind is electronic to be tethered at more rotor redundant power system architectures | |
| CN109358550A (en) | A kind of detection device and detection method of communication apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |