Control system of ROV for underwater safety inspection and operation

ZHANG Guangyi1，ZENG Qingjun1，DAI Xiaoqiang1，2，ZHU Chunlei1，LING Hongjie3 1 School of Electronics and Information，Jiangsu University of Science and Technology，Zhenjiang 212003 China ， 2 Jiangsu Shiptek Automation Technology Co.，Ltd.，Zhenjiang 212003，China 3 Marine Equipment and Technology Institute，Jiangsu University of Science and Technology， Zhenjiang 212003，China Abstract：［Objectives］In order to achieve safety inspections for surface attachments on hulls, dams and underwater steel structures according to the requirements of removing attachments，a new Remotely Operated Vehicle（ROV） equipped with cables for underwater safety inspection and operation is developed. This type of ROV uses different manipulators for different tasks to achieve the function of gripping and cutting，so as to ensure the removal of the attachments on the structure.［Methods］Here we describe the composition and principles of a control system of the ROV for underwater safety inspection and operation；this control system uses Arduino microcontroller as a control panel signal acquisition tool， industrial personal computer as a platform of the water surface monitoring system，zero buoyancy umbilical cable consisting of two pairs of twisted pairs and a pair of power cables as the means of the signal power transmission，and ARM embedded underwater control system as the main control unit；we establish the ROV dynamics model，and design the Generalized Predictive Controller（GPC）of ROV heading control. ［Results］ The commissioned system is normal；tank test and lake test in Qiandao Lake prove that the stability，reliability and real-time performance of the entire control system meet the design requirements and the requirements of underwater safety inspection and operation.［Conclusions］ The design scheme and control algorithm of this system can provide reference for the control system of other ROVs. Key words：safety inspection；operation；control system；Generalized Predictive Controller(GPC)；lake test收稿日期：2018 - 01 - 11 网络首发时间：2018-10-19 14:15基金项目：国家自然科学基金资助项目（11574120）；江苏省自然科学基金资助项目（BK20160564）；江苏省国际科技合作项目（BZ2016031）；江苏省研究生科研与实践创新计划项目（SJCX17-0594）；镇江市国际合作项目（GJ2015008）作者简介：张光义，男，1991年生，硕士生。研究方向：水下机器人控制。E-mail：xuerenzgy@163.com曾庆军（通信作者），男，1969年生，博士，教授，硕士生导师。研究方向：先进控制理论与应用，水下机器人控制，现代测控与智能系统。E-mail：zheng28501@163.com戴晓强，男，1981年生，博士，副教授，硕士生导师。研究方向：惯性导航系统，船舶自动化。E-mail：656759708@qq.com