| Summary: | 自主/遥控水下机器人是近年来出现的一种新型水下机器人，其自带能源，通过微光缆与水面支持系统相连接，既具有自治水下机器人大范围自主航行的能力，又具有遥控水下机器人定点操作能力，提高了自治水下机器人实时获取数据的能力，扩大了遥控水下机器人的作业范围。由于自主/遥控水下机器人工作方式的灵活性和多样性，其必将会在海洋监测、军事等方面有越来越广泛的应用。北极是反映全球气候变化的敏感地区，目前世界各国对北极的考察规模越来越大，对极地海洋的探索力度也大幅度增加。由于自主/遥控水下机器人具有灵活的工作方式，将其应用到北极冰下海洋环境监测中，便于满足北极科考的需求。本论文以科考需求为背景，将自主/遥控水下机器人应用到北极海洋环境监测中，为搭载的测量设备提供一个基本的运动平台。本论文以实现自主/遥控水下机器人控制系统功能为目的，在深入研究已有水下机器人控制系统结构的基础上，开展自主/遥控水下机器人的控制系统软件和硬件设计与实现工作。将CAN总线与PC/104总线应用到自主/遥控水下机器人控制系统中，实现了一种分布式与集中式相结合的控制系统体系结构，将控制系统的可扩展性、实时性、可靠性等结合在一起。以作者的实际工作为基础，介绍了自主/遥控水下机器人控制系统软、硬件的设计与实现。采用基于CAN总线技术的分布式控制系统体系结构；采用基于PC104嵌入式计算机的数字控制方案进行航行控制系统硬件设计与系统配置；采用嵌入式单片机做为分系统的控制器；在QNX操作系统下用C语言编写水下控制系统软件，采用模块化和标准化的设计思想，将水下控制系统软件分化多个功能模块，每个模块由不同的进程来实现。实际实验结果表明，本文所设计的控制系统能够达到预期目标；所设计底层硬件系统和底层驱动软件能够给机器人的上层控制软件提供一个稳定基础。 Autonomous & Remotely operated Vehicle (ARV), is a new type of underwater unmanned vehicle emerged in recent years. It connects itself to the surface system through micro-optical fiber cable, and has the ability to navigate autonomously as an Autonomous Underwater Vehicle and the ability to control and operate as an Remotely Operated Vehicle. Due to the flexibility and diversity of ARV’s working mode, it will be widely applied in marine exploration, military affairs and other aspects. North Pole is a sensitive area to reveal the global climate changes. So far, many countries in the world have conducted the large-scale survey into Arctic, and they have also increased their exploration strength by a large margin on Arctic Ocean. Thanks to the flexible working mode of ARV, it may meet the requirements of scientific expedition. This thesis integrates an actual project and applies ARV to the environmental supervision of Arctic Ocean to provide a dynamic platform for measurement equipment. This thesis is aimed at to realize the function of control system , Based on researching control system of current underwater vehicles,design and realize hardware of ARV and bottom-layer control system software and. The PC104 BUS and CAN BUS are applied in the ARV control system structure,realize control system structure integrated with distribution and centralization modes. This thesis introduces the design and realization of ARV control system software and hardware on the basis of the actual work. ARV has adopted the distributed control system structure based on CAN technology, applied the digital control scheme based on PC/104 embedded computer to navigation control system hardware design and system configuration, and used the embedded SCM as the subsystem controller. Furthermore, the author has edited the control system software with C in QNX operation system. With modularization and standardization design idea, control system software is divided into many different modules ,which are realized with different processes. The current experiment results indicate that the control system designed in this thesis can work normally, and the designed bottom-layer hardware system and bottom-layer driver can provide a stable foundation for the ARV top-layer control software.
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