摘要
针对船舶螺旋桨水下清洗问题,设计一种由水下机器人、机械手、空化射流系统集成的水下清洗机器人系统,重点研究了水下机器人推进器驱动及关键部件状态监测.针对水下机器人推进器驱动过程中,模拟电压-脉冲宽度调制信号转换模块与脉冲宽度调制驱动器两者功率不匹配的问题,提出一种模拟驱动器和脉冲宽度调制驱动器结合的混合驱动电路.针对推进器运行状态监测过程中,上位机控制界面显示的推进器电流信号,含有较大随机噪声干扰的问题,提出一种七点平滑小波降噪方法.针对水下机器人密封舱漏水状态监测过程中,漏水检测电路存在误报的问题,设计一种下拉电阻接地电路.通过陆上试验和水池试验对文中设计的推进器驱动电路、推进器电流降噪方法、漏水检测电路以及水下清洗机器人系统的有效性进行了验证.
Aiming at the problem of propeller underwater cleaning,an underwater cleaning system integrated with underwater robot,manipulator and cavitation jet system is designed,and the thruster driving and key parts condition monitoring for underwater vehicle are focused on.In the process of driving the thruster of underwater vehicle,to solve the problem of power mismatch between the analog voltage-pulse width modulation signal conversion module and the pulse width modulation driver,a hybrid driving method combining analog driver and pulse width modulation driver is proposed.On monitoring thruster running condition,aiming at the problem of large random noise interference in the thruster current signal which is displayed on the control interface of PC,a seven-point smoothing wavelet de-noising method is developed.To deal with false alarm of the leak detection circuit which occurs infrequently,in monitoring the water leakage condition for sealed cabin of underwater vehicle,a dropdown resistance grounding circuit is designed.The effectiveness of the proposed or designed thruster drive circuit,thruster current de-noising method,water leakage detection circuit and underwater cleaning vehicle system is verified by on land experiments and pool experiments.
作者
殷宝吉
董亚鹏
唐文献
张建
YIN Baoji;DONG Yapeng;TANG Wenxian;ZHANG Jian(School of Mechanical Engineering,Jiangsu University of Science and Technology,Zhenjiang 212003,China;Jiangsu Provincial Key Laboratory of Advanced Manufacture and Process for Marine Mechanical Equipment,Jiangsu University of Science and Technology,Zhenjiang 212003,China)
出处
《江苏科技大学学报（自然科学版）》
CAS
2019年第4期31-37,共7页
Journal of Jiangsu University of Science and Technology:Natural Science Edition
基金
江苏科技大学博士科研启动基金
关键词
船舶螺旋桨
水下清洗机器人
推进器驱动电路
电流降噪
漏水检测
ship propeller
underwater cleaning vehicle
thruster drive circuit
current de-noising
water leakage detection
