海底光缆路由跟踪系统设计与实现
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摘要
随着沿海地区经济发展和国防形势的变化,海底光缆通信系统对于我国沿海对岛屿的通信越来越重要,海底光缆施工和维护中,引导水下机器人找到海底光缆的专用设备必不可少。本课题来源于中国人民解放军海军对海底光缆施工和维护配套专用设备的需求,研究并设计了基于双三维磁探头阵列的海底光缆路由跟踪系统。
论文介绍了研制海底光缆实时路由跟踪系统的背景和必要性,概述了国内外海底光缆路由跟踪设备的应用现状,分析了海底光缆路由跟踪系统应实现的功能,提出基于双三维磁探头阵列的解决方案。论文详细阐述了基于双三维磁探头的有源交流电磁法探测海底光缆路由的原理,以此为基础建立了实时跟踪海底光缆距离和方位的数学模型,介绍了系统总体结构设计。在介绍了信号处理电路的组成和结构后,设计了能有效接收空间磁场信号的磁探头的结构、外型和参数,对信号处理电路的前置模拟电路的设计做出了详细的描述。探讨了DSP在现代信号处理方面的应用,介绍了TMS320C5409 DSP的特点并详细阐述了基于该DSP的数字信号处理模块的设计。解决了水下电子仓信号稳定上传的问题,为水面计算机终端设计了可靠的电源管理模块和人机界面软件。最后论文展望了海底光缆路由跟踪方法的发展和后续工作。
采用双三维磁探头的海底光缆路由跟踪系统方案,有效的解决了水下机器人和其他水下平台在海底光缆维修和施工中实时跟踪光缆路由的问题,为水下机器人的定位和找到光缆提供了必不可少的条件。
With the development of economic and the transformation of national defence position, The importance of submarine optical cable communication systems in communication between coastland and islands is emphasizing. A special equipment to direct ROV to submarine cable is absolutely necessarily in the process of submarine cable system construction or maintenance. This item is root in PLA NAVY’s requirement of special equipment used in the process of construction or maintenance. for submarine cable system.. A submarine cable route tracking system basing on double three-dimensional magnetism sensor is designed in this thesis.
The thesis firstly discusses the necessity of submarine cable route tracking system, and then studies both domestic and overseas current situation of submarine cable route tracking system’application. After analyzing the function of submarine cable route tracking system ,thesis bring up the solution which based on double three-dimensional magnetism sensor. Submarine cable route tracking in real time from using double three-dimensional magnetism sensor theory is particular expatiate. depending on this theory thesis founds the mathematical model for detecting submarine cable’s distance and direction in real time. the system’s construction is discussed. After the frame of signal disposal electrocircuit be depicted, the thesis designs the magnetism sensor’s structure, shape and parameter which makes magnetism sensor can receive the electromagnetism signal in the space, describes the prepositive analog circuit, discusses the application of DSP in modern signal disposing. The thesis introduces the feature of TMS320C5409 DSP and describes the design of digital signal disposing module which based on TMS320C5409 DSP. The thesis solves the problem of the signal stability communication from submarine electron box. A dependable power management module and interface software are signed in this thesis. ths thesis expect the development of submarine cable route tracking system and the research in the future.
The sign of submarine cable route tracking system solves the problem of submarine cable system construction or maintenance.
论文介绍了研制海底光缆实时路由跟踪系统的背景和必要性,概述了国内外海底光缆路由跟踪设备的应用现状,分析了海底光缆路由跟踪系统应实现的功能,提出基于双三维磁探头阵列的解决方案。论文详细阐述了基于双三维磁探头的有源交流电磁法探测海底光缆路由的原理,以此为基础建立了实时跟踪海底光缆距离和方位的数学模型,介绍了系统总体结构设计。在介绍了信号处理电路的组成和结构后,设计了能有效接收空间磁场信号的磁探头的结构、外型和参数,对信号处理电路的前置模拟电路的设计做出了详细的描述。探讨了DSP在现代信号处理方面的应用,介绍了TMS320C5409 DSP的特点并详细阐述了基于该DSP的数字信号处理模块的设计。解决了水下电子仓信号稳定上传的问题,为水面计算机终端设计了可靠的电源管理模块和人机界面软件。最后论文展望了海底光缆路由跟踪方法的发展和后续工作。
采用双三维磁探头的海底光缆路由跟踪系统方案,有效的解决了水下机器人和其他水下平台在海底光缆维修和施工中实时跟踪光缆路由的问题,为水下机器人的定位和找到光缆提供了必不可少的条件。
With the development of economic and the transformation of national defence position, The importance of submarine optical cable communication systems in communication between coastland and islands is emphasizing. A special equipment to direct ROV to submarine cable is absolutely necessarily in the process of submarine cable system construction or maintenance. This item is root in PLA NAVY’s requirement of special equipment used in the process of construction or maintenance. for submarine cable system.. A submarine cable route tracking system basing on double three-dimensional magnetism sensor is designed in this thesis.
The thesis firstly discusses the necessity of submarine cable route tracking system, and then studies both domestic and overseas current situation of submarine cable route tracking system’application. After analyzing the function of submarine cable route tracking system ,thesis bring up the solution which based on double three-dimensional magnetism sensor. Submarine cable route tracking in real time from using double three-dimensional magnetism sensor theory is particular expatiate. depending on this theory thesis founds the mathematical model for detecting submarine cable’s distance and direction in real time. the system’s construction is discussed. After the frame of signal disposal electrocircuit be depicted, the thesis designs the magnetism sensor’s structure, shape and parameter which makes magnetism sensor can receive the electromagnetism signal in the space, describes the prepositive analog circuit, discusses the application of DSP in modern signal disposing. The thesis introduces the feature of TMS320C5409 DSP and describes the design of digital signal disposing module which based on TMS320C5409 DSP. The thesis solves the problem of the signal stability communication from submarine electron box. A dependable power management module and interface software are signed in this thesis. ths thesis expect the development of submarine cable route tracking system and the research in the future.
The sign of submarine cable route tracking system solves the problem of submarine cable system construction or maintenance.
引文
[1]魏澎,黄少华.海底光缆工程设计简介.邮电设计技术, 2006,(9): 36~41
[2]叶银灿.海底光缆工程发展20年.海洋学研究, 2004,(3): 134~148
[3]江伟.浅谈海底光缆常用施工法.邮电设计技术, 2000,(1): 40~44
[4] Y. Shirasaki, K. Asakawa, J. Kojima, H. Homma. Deep sea ROV MARCAS-2500 for cable maintenance and repair works. Proc of ROV 88, 1988(9):627-641
[5] N. Kato, Y. Ito, J. Kojima, K. Asakawa. Guidance and Control of Autonomous Underwater Vehicle AQUA EXPLORER 1000 for Inspection of Underwater Cables”. Submersible Technology, 1993(4):195-211
[6] J. Kojima, Y. Ito, K. Asakawa, Y. Shirasaki. Cable Tracking of Autonomous Underwater Vehicle“AQUA EXPLORER 1000”. Underwater Intervention 94,1994(1):349-356
[7] K. Asakawa, J. Kojima, Y. Ito, Y. Shirasaki. Development of Autonomous Underwater Vehicle for Inspection of underwater Cables, Underwater Intervention ,1993(1):208-216
[8]周荣华,张坤仪编著.电磁学.上海:上海科学技术出版社, 1989年12月第1版
[9]张晖.电缆故障探测的发展.湖北电力, 2006,(4): 31~32
[10]周学军,王红霞.海缆埋设深度检测技术的研究.电线电缆, 2005,(3):38~42
[11]涂有瑞.半导体磁场传感器过去和未来.传感器世界, 2003,(7): 23~25.
[12]唐统一.近代电磁测量.北京:中国计量出版社, 1992
[13]冯远明.王明时.郭仲枢.孙克忱.李国峰.一种新型磁刺激场测量用传感器.天津大学学报(自然科学与工程技术版), 1998,(05): 17~22.
[14]毛振珑.磁场测量.北京:原子能出版社, 1985
[15]冯慈璋.马西奎.工程电磁场导论.北京:高等教育出版社, 2000
[16]刘锋. AD624集成放大器及其在应变测试仪中的应用.电子工程师,1999,(07):37~41
[17]颜良.陈儒军.刘石.陈一平.基于UAF42通用滤波芯片的50Hz陷波器设计.仪器仪表学报,2006,27(08): 924~926
[18]孙锴.李树华.有源滤波器芯片MAX260的特性及应用.内蒙古大学学报(自然科学版), 2002,(03): 341~343
[19] D.E.Joneson, H.P.Moore. A Handbook of Active Filiters. New Jersey: Prentice-Hall,Inc,Englewood Cliffs. 1980
[20]王楚,余道衡.电子线路原理.北京:北京大学出版社.1995
[21]刘强,郭文. MAXIM热门集成电路使用手册.北京:人民邮电出版社,1997
[22]李刚.数字信号微处理器的原理及其开发应用.天津:天津大学出版社,2000
[23] Di Stefano , Mirabella, Presente. Implementing a DSP-based Petri-net simulation tool. Micro, IEEE, 1991,11(2):20~23
[24] S. S. Bhattacharyya, R. Leupers, and P. Marwedel. Software synthesis and code generation for DSP. IEEE Transactions on Circuits and Systems : Analog and Digital Signal,2000,47(9):84~87
[25]杜爱玲,乔巍等.在电力谐波分析中的应用.微处理机,2002,(3):44~48
[26]王天祥.数字信号处理器(DSP)及其支持芯片的选择. DSP开发与应用, 1996,(1):64~68
[27]江思敏等. TMS320LF240X DSP硬件开发教程.北京:机械工业出版社,2003
[28] Ching, P.C., Cheng, Y.H. An in-circuit emulator for TMS320C25. Education, IEEE, 1994,37(3):243~246
[29]张勇编著,C/C++语言硬件程序设计,西安:西安电子科技大学出版社: 2003
[30]清源科技编著,TMS320C54X DSP硬件开发教程,北京:机械工业出版社: 2003
[31] Yagnamurthy, N.K. Jelinek, H.J. DSP based underwater communication solution. in: Robert S.H. OCEANS 2003 Proceedings. Kluwer Academic Publishers, 2003.120~123
[32]戴明祯,周建江. TMS320C54xDS结构原理及应用.北京:北京航空航天大学出版社,2001
[33]李冬梅.用于过采样∑-Δ模数转换器的∑-Δ调制器.微电子学,2000,30(2):72~76.
[34]刘书明,金彦亮.新型24位模数转换器ADS1210.国外电子元器件, 1998,(12):12~28.
[35]单茂华,周百令.基于CPLD技术大动态范围高速数据采集系统设计与实现.仪表与传感器, 2003,(3): 59~62.
[36] A.Y.Wu, K.J.Ray, Liu,A.Raghupathy. System architechture of an adaptive recognizable DSP computing engine, IEEE Transaction on Circuits and Systems for Video Technology, 1998,8(1): 54～73
[37] Zolghadri M R, Guiraud Davoine. A DSP Based Direct Torque Controller for Permanent Magent Synchronous Motor Drives, IEEE Transactions on Industry Applications, 1998, 26(7):17~22
[38] Allen, C., Pillay, P. TMS320 design for vector and current control of AC motor drives, Electronics Letters, 1992,28(23):2188~2190
[39] V. V. Thomas. Implementation of online air-gap torque monitor for detection of squirrel cage rotor faults using TMS320C31 Power Electronics, Machines and Drives, 2002,04:16~18
[40] R. Chassaing, DSP Applications Using C and the TMS320C6x DSK, New York: John Wiley & Sons, 2002.
[41]戴明祯,周建江. TMS320C54xDSP结构原理及应用.北京:北京航空航天大学出版社,2001.1
[42] Robert J.DeNardo. Implementing a Soft-ware UART on the TMS320C54X with the McBSP and DMA. Texas Instrument Inc, 2000,11:143~144
[43] Fukatsu S,Dunstan R.. Smart battery system manager specification revision. Aerospace and Electronic Systems Magazine,IEEE, 2005 (7) 37~42
[44] Bower, O'Sullivan. Bimode uninterruptible power supply compatibility in renewablehybrid energy systems. Aerospace and Electronic Systems Magazine, IEEE. 1990,5(8):16~22
[45] Enslin, J.H.R. Van Wyk, et al. Low-voltage, high-efficiency switch-mode high-power inverters for AC link converter applications. Industrial Electronics, IEEE. 1990,37(4):167~172
[46]耿德根等. AVR高速嵌入式单片机原理及应用.北京:航天航空大学出版社,2001.
[47]韩国庆,安建平.单片机与微机长距离通信系统中的设计及应用.微计算机信息, 2001,(7): 30~32
[2]叶银灿.海底光缆工程发展20年.海洋学研究, 2004,(3): 134~148
[3]江伟.浅谈海底光缆常用施工法.邮电设计技术, 2000,(1): 40~44
[4] Y. Shirasaki, K. Asakawa, J. Kojima, H. Homma. Deep sea ROV MARCAS-2500 for cable maintenance and repair works. Proc of ROV 88, 1988(9):627-641
[5] N. Kato, Y. Ito, J. Kojima, K. Asakawa. Guidance and Control of Autonomous Underwater Vehicle AQUA EXPLORER 1000 for Inspection of Underwater Cables”. Submersible Technology, 1993(4):195-211
[6] J. Kojima, Y. Ito, K. Asakawa, Y. Shirasaki. Cable Tracking of Autonomous Underwater Vehicle“AQUA EXPLORER 1000”. Underwater Intervention 94,1994(1):349-356
[7] K. Asakawa, J. Kojima, Y. Ito, Y. Shirasaki. Development of Autonomous Underwater Vehicle for Inspection of underwater Cables, Underwater Intervention ,1993(1):208-216
[8]周荣华,张坤仪编著.电磁学.上海:上海科学技术出版社, 1989年12月第1版
[9]张晖.电缆故障探测的发展.湖北电力, 2006,(4): 31~32
[10]周学军,王红霞.海缆埋设深度检测技术的研究.电线电缆, 2005,(3):38~42
[11]涂有瑞.半导体磁场传感器过去和未来.传感器世界, 2003,(7): 23~25.
[12]唐统一.近代电磁测量.北京:中国计量出版社, 1992
[13]冯远明.王明时.郭仲枢.孙克忱.李国峰.一种新型磁刺激场测量用传感器.天津大学学报(自然科学与工程技术版), 1998,(05): 17~22.
[14]毛振珑.磁场测量.北京:原子能出版社, 1985
[15]冯慈璋.马西奎.工程电磁场导论.北京:高等教育出版社, 2000
[16]刘锋. AD624集成放大器及其在应变测试仪中的应用.电子工程师,1999,(07):37~41
[17]颜良.陈儒军.刘石.陈一平.基于UAF42通用滤波芯片的50Hz陷波器设计.仪器仪表学报,2006,27(08): 924~926
[18]孙锴.李树华.有源滤波器芯片MAX260的特性及应用.内蒙古大学学报(自然科学版), 2002,(03): 341~343
[19] D.E.Joneson, H.P.Moore. A Handbook of Active Filiters. New Jersey: Prentice-Hall,Inc,Englewood Cliffs. 1980
[20]王楚,余道衡.电子线路原理.北京:北京大学出版社.1995
[21]刘强,郭文. MAXIM热门集成电路使用手册.北京:人民邮电出版社,1997
[22]李刚.数字信号微处理器的原理及其开发应用.天津:天津大学出版社,2000
[23] Di Stefano , Mirabella, Presente. Implementing a DSP-based Petri-net simulation tool. Micro, IEEE, 1991,11(2):20~23
[24] S. S. Bhattacharyya, R. Leupers, and P. Marwedel. Software synthesis and code generation for DSP. IEEE Transactions on Circuits and Systems : Analog and Digital Signal,2000,47(9):84~87
[25]杜爱玲,乔巍等.在电力谐波分析中的应用.微处理机,2002,(3):44~48
[26]王天祥.数字信号处理器(DSP)及其支持芯片的选择. DSP开发与应用, 1996,(1):64~68
[27]江思敏等. TMS320LF240X DSP硬件开发教程.北京:机械工业出版社,2003
[28] Ching, P.C., Cheng, Y.H. An in-circuit emulator for TMS320C25. Education, IEEE, 1994,37(3):243~246
[29]张勇编著,C/C++语言硬件程序设计,西安:西安电子科技大学出版社: 2003
[30]清源科技编著,TMS320C54X DSP硬件开发教程,北京:机械工业出版社: 2003
[31] Yagnamurthy, N.K. Jelinek, H.J. DSP based underwater communication solution. in: Robert S.H. OCEANS 2003 Proceedings. Kluwer Academic Publishers, 2003.120~123
[32]戴明祯,周建江. TMS320C54xDS结构原理及应用.北京:北京航空航天大学出版社,2001
[33]李冬梅.用于过采样∑-Δ模数转换器的∑-Δ调制器.微电子学,2000,30(2):72~76.
[34]刘书明,金彦亮.新型24位模数转换器ADS1210.国外电子元器件, 1998,(12):12~28.
[35]单茂华,周百令.基于CPLD技术大动态范围高速数据采集系统设计与实现.仪表与传感器, 2003,(3): 59~62.
[36] A.Y.Wu, K.J.Ray, Liu,A.Raghupathy. System architechture of an adaptive recognizable DSP computing engine, IEEE Transaction on Circuits and Systems for Video Technology, 1998,8(1): 54～73
[37] Zolghadri M R, Guiraud Davoine. A DSP Based Direct Torque Controller for Permanent Magent Synchronous Motor Drives, IEEE Transactions on Industry Applications, 1998, 26(7):17~22
[38] Allen, C., Pillay, P. TMS320 design for vector and current control of AC motor drives, Electronics Letters, 1992,28(23):2188~2190
[39] V. V. Thomas. Implementation of online air-gap torque monitor for detection of squirrel cage rotor faults using TMS320C31 Power Electronics, Machines and Drives, 2002,04:16~18
[40] R. Chassaing, DSP Applications Using C and the TMS320C6x DSK, New York: John Wiley & Sons, 2002.
[41]戴明祯,周建江. TMS320C54xDSP结构原理及应用.北京:北京航空航天大学出版社,2001.1
[42] Robert J.DeNardo. Implementing a Soft-ware UART on the TMS320C54X with the McBSP and DMA. Texas Instrument Inc, 2000,11:143~144
[43] Fukatsu S,Dunstan R.. Smart battery system manager specification revision. Aerospace and Electronic Systems Magazine,IEEE, 2005 (7) 37~42
[44] Bower, O'Sullivan. Bimode uninterruptible power supply compatibility in renewablehybrid energy systems. Aerospace and Electronic Systems Magazine, IEEE. 1990,5(8):16~22
[45] Enslin, J.H.R. Van Wyk, et al. Low-voltage, high-efficiency switch-mode high-power inverters for AC link converter applications. Industrial Electronics, IEEE. 1990,37(4):167~172
[46]耿德根等. AVR高速嵌入式单片机原理及应用.北京:航天航空大学出版社,2001.
[47]韩国庆,安建平.单片机与微机长距离通信系统中的设计及应用.微计算机信息, 2001,(7): 30~32