水下机器人便携式遥控单元设计

本文介绍了一种基于单片机与触摸屏的水下机器人便携式遥控单元设计方法,主要包括便携式遥控单元硬件结构、单片机与触摸屏之间的通信以及遥控单元软件设计等内容。通过该便携式遥控单元在北极冰下自主/遥控海洋环境监测系统中的成功应用,证明了这种遥控单元不仅具有良好的人机交互环境,而且具有体积小、操作方便、成本低和可靠性高等优点。     

遥控水下机器人系统在水库大坝水下检查中的应用

通过遥控水下机器人系统在水库大坝面板趾板、水库进水口、宋代古陂等工程水下检查中的实际应用,总结遥控水下机器人在清水环境下渗漏点查找、浊水环境水下冲刷检查、流动水环境水下金属锈蚀检查、易缠绕环境条件下水下检查的应用技巧,归纳遥控水下机器人系统的特点、技术优势及适用范围,为解决遥控水下机器人系统应用中出现的线缆易缠绕及难以发现大坝渗漏点等问题积累经验。     

超导传感器

综述了超导技术在传感器领域中的一些应用,重点介绍了超导现象及其特性、磁场传感器、热辐射计、低温温度计和位移传感器。     

基于VFC的超低频振动信号采集系统设计

超低频振动信号参数的检测在工程应用方面前景广阔,针对原有测量系统难以应对复杂的工程环境问题而设计了一种新型的信号采集系统。该系统中的VFC电路的特殊工作原理使得其能解决实际工程应用中产生的高频脉冲干扰问题。该系统经过试验标定,精度达到了0.88%,可以完成对超低频信号的精确测量,具有一定的应用价值。     

中程水下测距及遥控系统主控机设计

水声信道是一个十分复杂的时空频变信道,其主要特征是复杂性、多变性、强多途和有限带宽;为了实现对水下设备的测距和遥控操作,针对水声信道的特性,系统采用时延编码方案,设置键盘和液晶显示屏能实现对系统的便利操作,并通过串口将测距结果传至电脑实现后处理;文中介绍了测距及系统通信原理,主机部分的总体设计、键盘以及液晶显示部分、数据采集和处理部分;经过多次水池和湖上实验,证明了此系统的可行性并实现了所有预期功能。     

作业型遥控水下运载器的多变量backstepping鲁棒控制

针对作业型遥控水下运载器（ROV）存在复杂外干扰、参数不确定性以及强非线性耦合的特性,提出了作业型ROV的多变量backstepping控制方法．使用Lyapunov稳定性分析方法,证明了当存在系统参数不确定性和未知常值外干扰的情况时,系统的局部渐近稳定性．以及跟踪误差的局部渐近收敛性．针对作业型ROV在动力定位时的特点,得到了系统动力定位时的四自由度简化模型．仿真结果表明,所提出的多变量backstepping鲁棒控制器具有比常规PID控制器更好的控制品质和鲁棒性能．     

自治/遥控水下机器人北极冰下导航

针对北极高纬度和科学考察中长期冰站对海冰在一定范围内连续重复观测的需求,设计了面向冰下环境的自治/遥控水下机器人(北极ARV)导航定位系统.提出基于海冰运动修正的水下机器人自主导航方法,通过定时引入海冰运动信息,实时准确获取水下机器人相对于海冰的位置信息,这不仅提高了观测数据的实际应用价值,还提高了冰下作业的安全性.仿真试验和北极冰下应用证明这一导航系统具有精度高、稳定性好等优点.     

基于超低频电磁波的非接触式参数设置系统设计

为了实现非接触式参数设置,提出了一种以超低频电磁波为传输媒介,采用FSK为调制解调方式的系统解决方案;该系统以TI公司的MSP430F149为处理器,数字锁相环CD4046为解调芯片;考虑信号能量的传递损耗和噪声影响,加入功率放大、LC谐振选频和带通滤波等电路单元进行硬件设计,配备键盘和液晶能进行人机交互,设置参数可通过串口回传PC机予以保存;通过多次实验表明通信数据稳定、系统能量消耗小且容错能力强,达到了预期的设计要求,并在水下和油田设备中得到了实际应用.     

超低频电压的测量

提出了超低频电压的测量持点和方法。并介绍了一种精确测量超低频电压的原理电路。     

一种新型低频水声信号数据采集存储系统设计

本文介绍了一种新型低频水声信号数据采集存储系统,该系统对水声换能器输出的微弱信号进行放大、滤波,然后进行数据采集、存储,在数据采集存储过程中采用自动增益控制(AGC)技术调节通道增益,把信号放大到一定范围内,无需人工设置通道增益。湖试试验表明该系统具有存储容量大、简洁、有效和可靠的特点。     

煤矿井下中低频段电磁干扰测量与分析

针对煤矿井下监控装置主要受中低频段电磁干扰影响的问题,采用示波器和频谱分析仪对煤矿井下动力电缆浪涌干扰、电力变频器干扰、接地网干扰、电动机及电气设备辐射干扰、架线电机车干扰、漏泄通信系统干扰等主要的中低频段电磁干扰源进行了测量与分析。结果表明,动力电缆浪涌干扰、电力变频器干扰、电动机及电气设备辐射干扰较大;接地网干扰、架线电机车干扰次之;漏泄通信系统干扰和动力电缆的工频干扰相对较小。     

基于DTMF技术与射频技术的远程控制的实现

介绍了以AT89S52单片机为控制核心,利用DTMF发送/接收一体芯片MT8880和公共电话网以及全球移动通信网(GSM),并加上ASK方式的无线射频收发技术实现远程控制。     

Experiments in the coordinated control of an underwater arm/vehicle system

The addition of manipulators to small autonomous underwater vehicles (AUVs) can pose significant control challenges due to hydrodynamic interactions between the arm and the vehicle. Experiments conducted at the Monterey Bay Aquarium Research Institute (MBARI) using the OTTER vehicle have shown that dynamical interactions between an arm and a vehicle can be very significant. For the experiments reported in this paper, a single-link arm was mounted on OTTER. Tests showed that for 90-degree, two-second repetitive slews of the arm, the vehicle would move as much as 18 degrees in roll and 14 degrees in yaw when no vehicle control was applied.Using a new, highly accurate model of the arm/vehicle hydrodynamic interaction forces, which was developed as part of this research, a coordinated arm/vehicle control strategy was implemented. Under this model-based approach, interaction forces acting on the vehicle due to arm motion were predicted and fed into the vehicle controller. Using this method, station-keeping capability was greatly enhanced. Errors at the manipulator end point were reduced by over a factor of six when compared to results when no control was applied to the vehicle and by a factor of 2.5 when compared to results from a standard independent arm and vehicle feedback control approach. Using the coordinated-control strategy, arm end-point settling times were reduced by a factor three when compared to those obtained with arm and vehicle feedback control alone. These dramatic performance improvements were obtained with only a five-percent increase in total applied thrust.     

基于力控组态软件的远程过程控制实验系统设计

描述了一种基于力控组态软件的远程过程控制实验系统,实现对过程控制装置中的水箱液位控制和锅炉温度控制。实验者可以利用Internet网络远程操作实验,具有选择不同的实验项目、选择不同的控制规律、实时数据显示与存储、动画显示等功能。实验测试表明远程过程控制实验系统能够满足实际需要,具有显示直观与操作简单等功能。     

低频矢量水听器目标绝对方位估计海上试验研究

矢量水听器技术目前已被广泛应用于目标到达方位估计领域。因其具有与频率无关的指向性特点,即使利用单个矢量水听器也可以测定低至几十赫兹的低频目标方位,而标量水听器在低频的到达方位估计则需要巨大孔径的阵列才能完成上述测量功能。针对矢量水听器这一优点,对低频(100～300 Hz)声信号的方位估计性能进行了海上试验研究,并结合罗经同步测得的平台方位数据,给出了目标在大地坐标系下的绝对方位。海上试验结果表明:矢量水听器低频方位估计结果与GPS测量结果一致,在3.6km距离范围内,到达方位估计标准差不超过5°。     

Controller design and experimental validation of a very low frequency high-voltage test system

This paper presents the design of a quasi optimal controller for a new type of very low frequency (VLF) high-voltage test system for on-site cable tests. The test system is based on the differential resonance technology (DRT), which allows a light weight and compact construction. The high requirements regarding quality and accuracy of VLF test voltages can only be achieved with a suitable control concept. In this work, a two degrees-of-freedom control strategy comprising a feedforward and a feedback control in combination with an estimator for the unknown cable capacitance is proposed. The controller design is based on an envelope model which describes the (nonlinear) envelope dynamics of the occurring amplitude modulated signals. The feasibility of the proposed control strategy is verified by a number of measurements on a prototype system for cable tests up to 200 kV rms. The measurement results show that the generated test voltage has a total harmonic distortion (THD) of less than 0.1%, which is significantly better than the requirements of sinusoidal VLF test voltages. Moreover, the control strategy has the ability to cover a wide range of cable capacitances, desired amplitudes of the output voltage and desired test frequencies.     

Experimental study on a learning control system with bound estimation for underwater robots

Underwater robotic vehicles (URVs) have become an important tool for numerous underwater tasks due to their greater speed, endurance, depth capability, and a higher factor of safety than human divers. However, most vehicle control system designs are based on simplified vehicle models and often result in poor vehicle performance due to the nonlinear and time-varying vehicle dynamics having parameter uncertainties. Conventional proportional-integral-derivative (PID) type controllers cannot provide good performance without fine-tuning the controller gains and may fail for sudden changes in the vehicle dynamics and its environment. Conventional adaptive control systems based on parameter adaptation techniques also fail in the presence of unmodeled dynamics.This paper describes a new vehicle control system using the bound estimation techniques, capable of learning, and adapting to changes in the vehicle dynamics and parameters. The control system was extensively wet-tested on the Omni-Directional Intelligent Navigator (ODIN)-a six degree-of-freedom, experimental underwater vehicle developed at the Autonomous Systems Laboratory, and its performance was compared with the performance of a conventional linear control system. The results showed the controller's ability to provide good performance in the presence of unpredictable changes in the vehicle dynamics and its environment, and it's capabilities of learning and adapting.     

基于单片机的红外遥控自学习系统的设计

设计了一种针对各种家用电器产品的多功能红外遥控器,即利用一个遥控器就可方便地控制各种不同的家用电器。本系统设计是通过STC增强型8051系列单片机及相关硬件电路来实现的,设计中重点及核心的部分是通过软件解码来实现对红外遥控信号的自学习,并由单片机控制将学习的信号存储、验证及转发。实验证明,本系统硬件电路简单,可靠性高,可同时控制转发多种红外信号。同时系统还增加了RS232/RS485的串行通信接口电路,使单片机可以准确地与上位机进行通信。     

低功耗水下自主导航系统设计

以微处理器586 -engine为控制核心,采用模型辅助的自主导航算法设计了一种水下自主导航系统.该系统能够实时采集多个外部传感器数据并对数据进行实时解算,同时满足低成本、低功耗和长航时的要求.搭建了整个系统硬件平台,通过陆上跑车实验对整个实时导航系统进行了满足一定精度的简单实验验证,验证了系统的实时性和可行性.