文献详情
Design of motion control of dam safety inspection underwater vehicle
作者Sun Yu-shan[1];Wan Lei[2];Gan Yong[3];Wang Jian-guo[4];Jiang Chun-meng[5]
文献类型期刊
机构
通讯作者Sun, YS (reprint author), Harbin Engn Univ, State Key Lab Autonomous Underwater Vehicle, Harbin 150001, Peoples R China.
期刊名称JOURNAL OF CENTRAL SOUTH UNIVERSITY影响因子和分区
2012
19
6
页码范围1522-1529
增刊正刊
收录情况SCI(E)(WOS:000307251000008)  
期刊等级
百度学术Design of motion control of dam safety inspection underwater vehicle
语言外文
ISSN2095-2899
DOI10.1007/s11771-012-1171-6
被引频次9
人气指数5705
浏览次数1741
基金China Postdoctoral Science Foundation [20100480964]; National High Technology Research and Development Program of China [2002AA420090, 2008AA092301]
关键词dam safety inspection remotely operated vehicle (DSIROV); control system architecture; embedded system; automatic control of dam-scanning; dead-reckoning
摘要Plenty of dams in China are in danger while there are few effective methods for underwater dam inspections of hidden problems such as conduits, cracks and inanitions. The dam safety inspection remotely operated vehicle (DSIROV) is designed to solve these problems which can be equipped with many advanced sensors such as acoustical, optical and electrical sensors for underwater dam inspection. A least-square parameter estimation method is utilized to estimate the hydrodynamic coefficients of DSIROV, and a four degree-of-freedom (DOF) simulation system is constructed. The architecture of DSIROV's motion control system is introduced, which includes hardware and software structures. The hardware based on PC104 BUS, uses AMD ELAN520 as the controller's embedded CPU and all control modules work in VxWorks real-time operating system. Information flow of the motion system of DSIROV, automatic control of dam scanning and dead-reckoning algorithm for navigation are also discussed. The reliability of DSIROV's control system can be verified and the control system can fulfill the motion control mission because embankment checking can be demonstrated by the lake trials.
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