Control system of ROV for underwater safety inspection and operation
<b>[Objectives]</b> 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...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Editorial Office of Chinese Journal of Ship Research
2018-12-01
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| Series: | Zhongguo Jianchuan Yanjiu |
| Subjects: | |
| Online Access: | http://www.ship-research.com/EN/Y2018/V13/I6/113 |
| _version_ | 1818176006087770112 |
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| author | ZHANG Guangyi ZENG Qingjun DAI Xiaoqiang ZHU Chunlei LING Hongjie |
| author_facet | ZHANG Guangyi ZENG Qingjun DAI Xiaoqiang ZHU Chunlei LING Hongjie |
| author_sort | ZHANG Guangyi |
| collection | DOAJ |
| description | <b>[Objectives]</b> 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.<b>[Methods]</b> 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.<b>[Results]</b> 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.<b>[Conclusions]</b> The design scheme and control algorithm of this system can provide reference for the control system of other ROVs. |
| first_indexed | 2024-12-11T20:09:19Z |
| format | Article |
| id | doaj.art-82895b23a92448938b7df0f796391476 |
| institution | Directory Open Access Journal |
| issn | 1673-3185 1673-3185 |
| language | English |
| last_indexed | 2024-12-11T20:09:19Z |
| publishDate | 2018-12-01 |
| publisher | Editorial Office of Chinese Journal of Ship Research |
| record_format | Article |
| series | Zhongguo Jianchuan Yanjiu |
| spelling | doaj.art-82895b23a92448938b7df0f7963914762022-12-22T00:52:19ZengEditorial Office of Chinese Journal of Ship ResearchZhongguo Jianchuan Yanjiu1673-31851673-31852018-12-0113611311910.19693/j.issn.1673-3185.01167201806016Control system of ROV for underwater safety inspection and operationZHANG Guangyi0ZENG Qingjun1DAI Xiaoqiang2ZHU Chunlei3LING Hongjie4School of Electronics and Information, Jiangsu University of Science and Technology, Zhenjiang 212003, ChinaSchool of Electronics and Information, Jiangsu University of Science and Technology, Zhenjiang 212003, ChinaSchool of Electronics and Information, Jiangsu University of Science and Technology, Zhenjiang 212003, ChinaSchool of Electronics and Information, Jiangsu University of Science and Technology, Zhenjiang 212003, ChinaMarine Equipment and Technology Institute, Jiangsu University of Science and Technology, Zhenjiang 212003, China<b>[Objectives]</b> 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.<b>[Methods]</b> 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.<b>[Results]</b> 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.<b>[Conclusions]</b> The design scheme and control algorithm of this system can provide reference for the control system of other ROVs.http://www.ship-research.com/EN/Y2018/V13/I6/113safety inspectionoperationcontrol systemGeneralized Predictive Controller(GPC)lake test |
| spellingShingle | ZHANG Guangyi ZENG Qingjun DAI Xiaoqiang ZHU Chunlei LING Hongjie Control system of ROV for underwater safety inspection and operation Zhongguo Jianchuan Yanjiu safety inspection operation control system Generalized Predictive Controller(GPC) lake test |
| title | Control system of ROV for underwater safety inspection and operation |
| title_full | Control system of ROV for underwater safety inspection and operation |
| title_fullStr | Control system of ROV for underwater safety inspection and operation |
| title_full_unstemmed | Control system of ROV for underwater safety inspection and operation |
| title_short | Control system of ROV for underwater safety inspection and operation |
| title_sort | control system of rov for underwater safety inspection and operation |
| topic | safety inspection operation control system Generalized Predictive Controller(GPC) lake test |
| url | http://www.ship-research.com/EN/Y2018/V13/I6/113 |
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