CN206960964U - A kind of underwater robot attitude regulation control system based on sliding formwork control - Google Patents
A kind of underwater robot attitude regulation control system based on sliding formwork control Download PDFInfo
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- CN206960964U CN206960964U CN201720914402.1U CN201720914402U CN206960964U CN 206960964 U CN206960964 U CN 206960964U CN 201720914402 U CN201720914402 U CN 201720914402U CN 206960964 U CN206960964 U CN 206960964U
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Abstract
It the utility model is related to a kind of underwater robot attitude regulation control system based on sliding formwork control, including depth data processing module, navigation data processing module, main controller module, CAN data transmit-receive modules, ethernet communication module and power module, the depth data receives parsing module and navigation data receives parsing module and the depth after parsing and navigation information are transferred into main controller module by iic bus, master controller simultaneously receive host computer by network mode transmit come gesture stability instruction, with terminal sliding mode algoritic module, calculate the corresponding rotating speed of each propeller, each propeller is sent to by CAN.The utility model has the advantage of：Using sliding mode control algorithm, the working characteristics of underwater robot nonlinearity more can adapt to；Using more kernel modes, the arithmetic speed and system response time of main controller module are improved；Communication is used in combination so that system is more fast and reliable.
Description
Technical field
The utility model belongs to underwater robot attitude control technology, more particularly to a kind of underwater machine based on sliding formwork control
Device people's attitude regulation control system.
Background technology
Either marine resources development, or the utilization of land water resource, underwater robot is as exploitation Underwater resources
A kind of important tool increasingly shows its importance.It is multiple in environmental monitoring, data acquisition, resource investigation, military surveillance etc.
Aspect plays an important role, and therefore, the research and extensive use of underwater robot develop for making full use of the natural resources
National economy is of great practical significance.
When performing fine manipulation, the gesture stability of underwater robot is particularly important underwater robot, and e.g., fixed boat is fixed
It is deep to move ahead, break the barriers at an angle, dynamic positioning etc., therefore, safe and reliable, flexible underwater robot posture are adjusted
Section control device is the important guarantee for playing underwater robot several work performance.At present, underwater robot is more using centralization
Control mode, all data processings and the realization of control algolithm are concentrated in one piece of process chip so that the computing of system speed
Degree substantially reduces, and the reliability of system, scalability are poor.
Chinese patent（Application No. 200410021161.5）Disclose a kind of underwater machine using distributed node network
Device people's control device, using core of the CAN network as distributed AC servo system, by main frame node and CAN network node group
Into the device communicates using only CAN network, for the communications portion between underwater manipulator and host computer and does not apply to, and the dress
Put and do not propose related control strategies.
Chinese patent（Application No. 200310105200.5）A kind of distributed underwater robot control system is disclosed, is adopted
By the use of RS-485 networks as the core of distributed AC servo system, it is made up of main frame node and RS-485 network nodes, the device
Using only RS-485 network services, for the communications portion between underwater manipulator and host computer and do not apply to, communication speed is slow, accounts for
It is more with system memory resource, and the device does not propose related control strategies.
Chinese patent（Application No. 201510253350.3）A kind of modular ROV control system is disclosed, is used
TCP/IP realizes each branch units modularization as network service in system, system whole application network communication, hardware into
Ben Taigao, and programming difficulty is big, not suitable for all modules.
Chinese patent（Application No. 201310538196.5）A kind of small-sized Control System for Autonomous Underwater Vehicle is disclosed,
The system completes the control to underwater robot using communication, but the data processing work of all modules is by master control
Computer is completed, and modules independence is poor, causes the real-time of whole system to be short of, and the response speed of underwater robot is slow,
And whole system poor fault tolerance.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of underwater robot attitude regulation based on sliding formwork control
Control system, to solve the deficiencies in the prior art.
In order to solve the above technical problems, the technical solution of the utility model is：A kind of underwater based on sliding formwork control
People's attitude regulation control system, its innovative point are：Including host computer, depth data processing module, navigation data processing module,
Main controller module, CAN data transmit-receive modules, ethernet communication module, power module and some propeller control modules；Institute
State main controller module to be connected with depth data processing module, navigation data processing module, CAN data transmit-receive modules, also pass through
Ethernet communication module is connected with host computer, and depth data processing module and navigation data processing module pass through iic bus
It is connected with main controller module；The power module and depth data processing module, navigation data processing module, master controller mould
Block, CAN data transmit-receive modules, ethernet communication module and the connection of some propeller control modules, and CAN data transmit-receive moulds
Block is also connected by CAN with respectively entering device control module；
Wherein, the main controller module includes IIC data receivers sending module, TSM control algoritic module, CAN
Processing data packets module and ethernet data acceptance sending module；The IIC data receivers sending module is handled with depth data
Module, navigation data processing module connect with TSM control algoritic module, TSM control algoritic module also with ether
Network data receives sending module and connected with CAN processing data packets modules, ethernet data acceptance sending module and ethernet communication
Module is connected, and CAN processing data packets module is connected with CAN data transmit-receive modules.
Further, the regulation and control system, in addition to other function expanding modules, other described function expanding modules
It is connected by iic bus with main controller module.
Further, other described function expanding modules include underwater lamp control module, power management module and leak inspection
Survey module.
Further, the depth data processing module includes micro-chip processor and serial data transceiving chip.
Further, the navigation data processing module includes micro-chip processor and serial data transceiving chip.
Further, the main controller module includes process chip.
Further, the CAN data transmit-receive modules include CAN data collector chips.
Further, the ethernet communication module includes Ethernet transceiving chip.
Further, the power module includes voltage-stabilized power supply and insulating power supply, in the input and output end of each power supply
The electric capacity of multiple different capacitances in parallel respectively, and it is in parallel one in the power input for each chip being connected with power module
0.1uF electric capacity.
The utility model has the advantage of：
（1）Underwater robot attitude regulation control system of the utility model based on sliding formwork control, using terminal sliding mode control
Algoritic module processed, the working characteristics of underwater robot nonlinearity can be adapted to very well；Meanwhile using communication,
Preferably adapt to the communication characteristic of modules so that system is more succinct, reliable, quick；In addition, the transmission side data of bus
Formula greatly reduces the usage amount of order wire, greatly reduces line failure rate, while saves big quantity space；
（2）Underwater robot attitude regulation control system of the utility model based on sliding formwork control, it is existing in order to not change
The structure of system, the communication mode of iic bus facilitate the extension of more equipment；In addition, in each core being connected with power module
The power input of a piece 0.1uF electric capacity in parallel, can reduce influence of the power supply ripple to chip.
Brief description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is underwater robot attitude regulation control system general structure signal of the utility model based on sliding formwork control
Figure.
Embodiment
The following examples can make professional and technical personnel that the utility model be more fully understood, but therefore will not
The utility model is limited among described scope of embodiments.
Embodiment
Underwater robot attitude regulation control system of the present embodiment based on sliding formwork control, as shown in figure 1, including upper
Machine, depth data processing module 1, navigation data processing module 2, main controller module 3, CAN data transmit-receive modules 4, Ethernet
Communication module 5, power module 6 and some propeller control modules 7；Wherein, main controller module 3 includes IIC data receivers
Sending module 31, TSM control algoritic module 32, CAN processing data packets module 33 and ethernet data acceptance sending module
34；IIC data receivers sending module 31 and depth data processing module 1, navigation data processing module 2 and TSM control
Algoritic module 32 connects, TSM control algoritic module 32 also with ethernet data acceptance sending module 34 and CAN packets
Processing module 33 is connected, and ethernet data acceptance sending module 34 is connected with ethernet communication module 5, CAN processing data packets moulds
Block 33 is connected with CAN data transmit-receive modules 4；Depth data processing module 1 and navigation data processing module 2 are individually packaged into
One circuit board, remaining module are packaged into a circuit board, can so realize the modularization management of whole system, be easy to module
Addition and maintenance.
In embodiment, main controller module 3 is received with depth data processing module 1, navigation data processing module 2, CAN data
Hair module 4 connects, and is also connected by ethernet communication module 5 with host computer, and at depth data processing module 1 and navigation data
Reason module 2 is connected by iic bus with main controller module 3；Power module 6 and depth data processing module 1, navigation data
Processing module 2, main controller module 3, CAN data transmit-receive modules 4, ethernet communication module 5 and some propeller control moulds
Block 7 is connected, and power supply is provided for modules；And CAN data transmit-receive modules 4 are also connected by CAN with respectively entering device control module 7
Connect.
In embodiment, do not changing the structure of existed system, other function expanding modules 8 are connected by iic bus, other
Function expanding module 8 can be specifically underwater lamp control module, power management module and leak water detdction module.
As embodiment, more specifically embodiment is：
Depth data processing module 1 includes micro-chip processor and serial data transceiving chip, and what completion depth counted connects
The parsing with depth information is received, and main controller module is transferred to by iic bus.
Navigation data processing module 2 includes micro-chip processor and serial data transceiving chip, completes the reception of navigation data
With the parsing of navigation information, and main controller module is transferred to by iic bus.
Main controller module 3 includes process chip, complete data on iic bus reception and transmission, control device with it is upper
The position network service of machine, the realization of TSM control algorithm, the processing of CAN packets.
CAN data transmit-receive modules 4 include CAN data collector chips, complete the communication between control device and propeller.
Ethernet communication module 5 includes Ethernet transceiving chip, completes the communication between Subsea Control Systems and host computer, complete
Upload into each semaphore of underwater robot is assigned.
Power module 6 includes voltage-stabilized power supply and insulating power supply, for control device provide needed for power supply, in the input of power supply
The electric capacity of multiple different capacitances in parallel is distinguished with output end, meanwhile, in the power input of an each chip 0.1uF electricity in parallel
Hold, reduce influence of the power supply ripple to chip.
Pass through underwater robot attitude regulation control system of the utility model based on sliding formwork control, when being handled, tool
Body is：Depth after parsing and navigation information are passed through iic bus by depth data processing module 1 and navigation data processing module 2
Be transferred to main controller module 3, main controller module 3 receive simultaneously host computer by ether net mode transmit come gesture stability
Instruction, with TSM control algorithm 32, the corresponding rotating speed of each propeller is calculated, after CAN processing data packets 33,
Corresponding propeller rotating speed is put into corresponding CAN packets, each push away is sent to by CAN by CAN data transmit-receive modules 4
Enter device；The module such as expansible carry underwater lamp control module, power management module and leak water detdction module on iic bus；And then
The underwater robot such as pitch angle, roll angle, yaw angle, depth related data is uploaded to by ethernet communication module 5 upper
In machine.
The advantages of general principle and principal character of the present utility model and the utility model has been shown and described above.This
The technical staff of industry is retouched in above-described embodiment and specification it should be appreciated that the utility model is not restricted to the described embodiments
That states simply illustrates principle of the present utility model, on the premise of the spirit and scope of the utility model is not departed from, the utility model
Various changes and modifications are also had, these changes and improvements are both fallen within claimed the scope of the utility model.This practicality is new
Scope is claimed by appended claims and its equivalent thereof in type.
Claims (9)
- A kind of 1. underwater robot attitude regulation control system based on sliding formwork control, it is characterised in that：Including host computer, depth Data processing module, navigation data processing module, main controller module, CAN data transmit-receive modules, ethernet communication module, electricity Source module and some propeller control modules；The main controller module and depth data processing module, navigation data processing Module, the connection of CAN data transmit-receive modules, are also connected by ethernet communication module with host computer, and depth data processing module It is connected with navigation data processing module by iic bus with main controller module；The power module is handled with depth data Module, navigation data processing module, main controller module, CAN data transmit-receive modules, ethernet communication module and some push away Enter the connection of device control module, and CAN data transmit-receive modules are also connected by CAN with respectively entering device control module；Wherein, the main controller module includes IIC data receivers sending module, TSM control algoritic module, CAN data Packet handing module and ethernet data acceptance sending module；The IIC data receivers sending module and depth data processing module, Navigation data processing module connects with TSM control algoritic module, TSM control algoritic module also with Ethernet data Receive sending module to connect with CAN processing data packets modules, ethernet data acceptance sending module connects with ethernet communication module Connect, CAN processing data packets module is connected with CAN data transmit-receive modules.
- 2. the underwater robot attitude regulation control system according to claim 1 based on sliding formwork control, it is characterised in that： The regulation and control system, in addition to other function expanding modules, other described function expanding modules pass through iic bus and master control Device module connection processed.
- 3. the underwater robot attitude regulation control system according to claim 2 based on sliding formwork control, it is characterised in that： Other described function expanding modules include underwater lamp control module, power management module and leak water detdction module.
- 4. the underwater robot attitude regulation control system according to claim 1 based on sliding formwork control, it is characterised in that： The depth data processing module includes micro-chip processor and serial data transceiving chip.
- 5. the underwater robot attitude regulation control system according to claim 1 based on sliding formwork control, it is characterised in that： The navigation data processing module includes micro-chip processor and serial data transceiving chip.
- 6. the underwater robot attitude regulation control system according to claim 1 based on sliding formwork control, it is characterised in that： The main controller module includes process chip.
- 7. the underwater robot attitude regulation control system according to claim 1 based on sliding formwork control, it is characterised in that： The CAN data transmit-receive modules include CAN data collector chips.
- 8. the underwater robot attitude regulation control system according to claim 1 based on sliding formwork control, it is characterised in that： The ethernet communication module includes Ethernet transceiving chip.
- 9. the underwater robot attitude regulation control system according to claim 1 based on sliding formwork control, it is characterised in that： The power module includes voltage-stabilized power supply and insulating power supply, in input and the output end difference of each power supply multiple different appearances in parallel The electric capacity of value, and in a power input 0.1uF electric capacity in parallel for each chip being connected with power module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201720914402.1U CN206960964U (en) | 2017-07-26 | 2017-07-26 | A kind of underwater robot attitude regulation control system based on sliding formwork control |
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| CN201720914402.1U CN206960964U (en) | 2017-07-26 | 2017-07-26 | A kind of underwater robot attitude regulation control system based on sliding formwork control |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107203217A (en) * | 2017-07-26 | 2017-09-26 | 江苏科技大学 | A kind of underwater robot attitude regulation control system based on sliding formwork control |
| CN107450572A (en) * | 2017-07-26 | 2017-12-08 | 江苏科技大学 | Underwater robot attitude regulation control system and processing method based on sliding formwork control |
| CN112987770A (en) * | 2021-02-26 | 2021-06-18 | 哈尔滨工程大学 | Anti-saturation finite-time motion control method for walking foot of amphibious crab-imitating multi-foot robot |
-
2017
- 2017-07-26 CN CN201720914402.1U patent/CN206960964U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107203217A (en) * | 2017-07-26 | 2017-09-26 | 江苏科技大学 | A kind of underwater robot attitude regulation control system based on sliding formwork control |
| CN107450572A (en) * | 2017-07-26 | 2017-12-08 | 江苏科技大学 | Underwater robot attitude regulation control system and processing method based on sliding formwork control |
| CN112987770A (en) * | 2021-02-26 | 2021-06-18 | 哈尔滨工程大学 | Anti-saturation finite-time motion control method for walking foot of amphibious crab-imitating multi-foot robot |
| CN112987770B (en) * | 2021-02-26 | 2021-09-28 | 哈尔滨工程大学 | Anti-saturation finite-time motion control method for walking feet of amphibious crab-imitating multi-foot robot |
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| CF01 | Termination of patent right due to non-payment of annual fee |
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| CF01 | Termination of patent right due to non-payment of annual fee |