水下机器人控制与通信系统研究
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摘要
随着人类活动空间不断扩大,水下机器人已成为各国研究的热点。本文主要实现了履带式水下机器人的控制系统并进行了水下通信方式的实验室研究。
控制系统由两部分组成:视频部分和电气部分,视频部分由摄像、视频压缩传输和PC图像终端组成。电气部分为两级控制,上位机由PC和控制台组成,下位机为称车载从控制器。
车载从控制器位于小车内部,通过串口接收控制台命令对小车做相应的控制,并通过反馈获取的速度等信息进行PID算法控制。此外,通过采样电机电流值进行过流保护。
控制台包括主控制器、视频服务器。主控制器除接收PC图像终端的命令外,也可通过按键和手柄获取命令,发送至车载从控制器。视频服务器将小车摄像头传输的视频信号数字化后,传输至PC图像终端显示。
PC图像终端实现对视频服务器的控制,对视频数据的处理和存储,实现和用户的互动,以及与主控制器进行通讯。
本文分析了水声信道的特点和现有的各种水声通信方式特点。在此基础上提出不等时隙的脉冲位置调试方式,对现有的编码方式作了改进,大大提高了通信速率。最后通过电路实验,仿真了水声信道的带宽特性,对不等时隙的脉冲位置调试通信方式进行模拟,验证了该通信方式的可行性。
最后本文对履带式机器人的研制进行了总结和展望,并对水下脉冲通信改进方向进行了分析讨论。
As the space for human activities expanding, study about underwater vehicle has become a hotspot. In this paper, a control system of tracked underwater vehicle is developed, and the underwater communication is studied in the lab.
The control system consists of two parts: the video part and the electrical part. The former one includes camera, video server and PC terminal. The latter one is a two-level control system. The upper system consists of PC and the control box, the lower system is a vehicle-carried system.
The vehicle -carried system is placed inside the vehicle, and it receives the command from the control box through UART, and controls the vehicle's actions. Besides, it executes PID algorithm to control vehicle's locomotion. Furthermore, the current of motors is sampled in order to avoid overloading.
The control box is comprised of main-controller and video server. Besides receiving command from PC, the main-controller also can get the command according to keys and handles. Signal of the camera that fixed on the vehicle is transmitted by the cable to video server, and after digitized, it is transmitted to PC.
PC controls the video server, processes and records the video data, offers interface to users, and communicates with the main controller.
In this paper, the characters of underwater acoustic channel and several modulation in underwater acoustic communication are analysed. Based on that, a differential pulse position modulation (DPPM) using variable interval is brought forward. Comparing to DPPM, it improves transmission speed. Finally, experiments, which use circuit to simulate the underwater acoustic channel, are carried out, and the experiments prove its feasibility.
At the end of the paper, the characters of the vehicle are analyzed and concluded and the further improvement of underwater pulse acoustic communication is also discussed.
控制系统由两部分组成:视频部分和电气部分,视频部分由摄像、视频压缩传输和PC图像终端组成。电气部分为两级控制,上位机由PC和控制台组成,下位机为称车载从控制器。
车载从控制器位于小车内部,通过串口接收控制台命令对小车做相应的控制,并通过反馈获取的速度等信息进行PID算法控制。此外,通过采样电机电流值进行过流保护。
控制台包括主控制器、视频服务器。主控制器除接收PC图像终端的命令外,也可通过按键和手柄获取命令,发送至车载从控制器。视频服务器将小车摄像头传输的视频信号数字化后,传输至PC图像终端显示。
PC图像终端实现对视频服务器的控制,对视频数据的处理和存储,实现和用户的互动,以及与主控制器进行通讯。
本文分析了水声信道的特点和现有的各种水声通信方式特点。在此基础上提出不等时隙的脉冲位置调试方式,对现有的编码方式作了改进,大大提高了通信速率。最后通过电路实验,仿真了水声信道的带宽特性,对不等时隙的脉冲位置调试通信方式进行模拟,验证了该通信方式的可行性。
最后本文对履带式机器人的研制进行了总结和展望,并对水下脉冲通信改进方向进行了分析讨论。
As the space for human activities expanding, study about underwater vehicle has become a hotspot. In this paper, a control system of tracked underwater vehicle is developed, and the underwater communication is studied in the lab.
The control system consists of two parts: the video part and the electrical part. The former one includes camera, video server and PC terminal. The latter one is a two-level control system. The upper system consists of PC and the control box, the lower system is a vehicle-carried system.
The vehicle -carried system is placed inside the vehicle, and it receives the command from the control box through UART, and controls the vehicle's actions. Besides, it executes PID algorithm to control vehicle's locomotion. Furthermore, the current of motors is sampled in order to avoid overloading.
The control box is comprised of main-controller and video server. Besides receiving command from PC, the main-controller also can get the command according to keys and handles. Signal of the camera that fixed on the vehicle is transmitted by the cable to video server, and after digitized, it is transmitted to PC.
PC controls the video server, processes and records the video data, offers interface to users, and communicates with the main controller.
In this paper, the characters of underwater acoustic channel and several modulation in underwater acoustic communication are analysed. Based on that, a differential pulse position modulation (DPPM) using variable interval is brought forward. Comparing to DPPM, it improves transmission speed. Finally, experiments, which use circuit to simulate the underwater acoustic channel, are carried out, and the experiments prove its feasibility.
At the end of the paper, the characters of the vehicle are analyzed and concluded and the further improvement of underwater pulse acoustic communication is also discussed.
引文
[1]蒋新松等.《水下机器人》.辽宁科学技术出版社2000
[2]Naval Undersea Warfare Center Division Newport,Space and Naval Warfare Systems Center San Diego,Naval Oceanographic Office,Naval Surface Warfare Center Dahlgren Division,Coastal Systems Station,and the Johns Hopkins University Applied Physics Laboratory.UUVMaster Plan (2004 update)[R/DE].2004
[3]Walton J.M.;UhrichR.W.114 untethered UUV dives:lessons learned.OCEANS'95 MTS/IEEE,Challenges of Our Changing Global,Environment Conference Proceedings Volume 3,9-12 Oct.1995 Page(s):1433-1438vol.3
[4]冀大雄;陈孝桢;李一平等.AUV长基线系统海上应用中若干问题分析.海洋工程-2007年4期92-95
[5]Waldmann C.;Richter L.Traction properties of the wheels of an underwater crawler on different soils.Oceans 2007 Sept.29-Oct.4Page(s):1-7
[6]Yamamoto S.;Hamakawa W.;Ikeuchi A.etc.Remotely Controlled Jetting Burier for Submarine Cable(MARCAS-200 Crawler).OCEANS Volume 19,Sep 1987 Page(s):1284 1289
[7]Aponick T.;Bernstein C.Countermine operations in very shallow water and surf zone:the role of bottom crawlers.OCEANS 2003 Proceedings Volume 4,22-26 Sept.2003 Page(s):1931-1940 Vol.4
[8]孟庆鑫;王丽慧;王立权等.水下船体表面清刷机器人方案研究.船舶工程2002年1期,44-46
[9]Woodward B.;Sari H.Digital underwater acoustic voice communications.Oceanic Engineering Apr 1996 Volume:21,Issue:2 On page(s):181-192
[10]周立功.《ARM嵌入式系统基础教程》.北京航空航天大学出版社
[11]http://www.zlgmcu.com/philips/arm/1pc2132.asp
[12]张晓丽;张翼飞;王斌斌.语音控制的智能小车设计.电子技术应用 2005年31卷9期
[13]王晓明.《电动机的单片机控制》.北京航空航天大学出版社 2002年5月
[14]Jean J.Labrosse著;邵贝贝等译.《嵌入式实时操作系统uc/OS-Ⅱ(第二版)》2003
[15]M.Stojaovic.Recent Advances in High-Speed Underwater Acoustic Communications.IEEE Journal of Oceanic,1996,21(2):125-136p
[16]蔡惠智;刘云涛;蔡慧等.第八讲水声通信及其研究进展 物理 2006 Vol.35No.12
[17]Kilfoyle D.B.;Baggeroer A.B.The state of the art in underwater acoustic telemetry.IEEE JOURNAL OF OCEANIC ENGINEERING,VOL.25,NO.1,JANUARY 2000
[18]欧阳长月.《数字通信一传输原理及应用》.北京航空航天大学出版社 1990
[19]R.Coates.Oceans' Underwater acoustic communications.Presented at Victoria,Q C,Canada 1993
[20]R.J Urick著;洪申译.《工程水声原理》.国防工业出版社1972
[21]Rouseff D.;Jackson D.R.;Fox W.L.J.etc Underwater acoustic communication by passive-phase conjugation:theory and experimental results.Oceanic Engineering IEEE Journal of Volume 26,Issue 4,Oct.2001Page(s):821-831
[22]Doisy Y.;Deruaz L.;Been R.Sonar waveforms for reverberation rejection part Ⅰ:theory[A].UDT2000[C].Pacific,2000:19-24
[23]Marksym,Joseph N.;Sandys-Wunsch,Michael Adaptive beamforming against reverberation for a three-sensor array.J.Acoust.Soc.Am,December1997,10 2(6):
[24]A.B.Gershman.Adaptive beamforming algorithms with robustness against jammermotion,IEEE trans,on Signal Processing,1997,vo 145,pp.1878-188
[25]李红娟;孙超.加速度下的水声通信多普勒频移补偿方法.西北工业大学学 报 2007 Vol.25 No.02
[29]M.Fink C.Prada.Self-focusing in inhomogeneous media with time reversal acoustic mirrors.IEEE ultrasonics symposium 1989,12:681-686
[27]D.R.Jackson;D.R.Dowling.Phase conjugation in underwater acoustics.J.Acoust.Soc.Am.1991(89):171-181P
[30]Dowling D.R.Acoustic pulse compression using passive phase-conjugate processing.J.Acoust.Soc.Am.1994,9 5(3):1450-1458
[28]Kim J.S.;Song H.C.;Kuperman W.A.Adaptive time-reversal mirror.Journal of acoustical society of American 2001,10 9(5):1817-1825.
[26]Kevin B.;Smith Antonio A.M.etc Examination of time-reversal acoustics in shallow water and application to noncoherent underwater communications.J.Acoust.Soc.Am.2003(113):3095-3116
[31]张海平;熊祥正.一种超宽带脉冲发生器的设计与仿真.信息与电子工程2006年4卷6期
[32]R.Gagliardi;J.Robinns;H.Taylor.Acquisition sequences in PPM communications.IEEE Tran.Inform.Theory,1987,.IT-33:738-744
[33]S.Patarasen;C.N.Georghiades.Optimum Frame Synchronization for Overlapping Pulse-Position Modulation Optical systems.IEEE Transactions on Communications Vol.40,No.4,pp 78 3-794,April19 92
[34]邹传云;敖发良;张德现等.全数字光PPM接收机的最佳帧节同步.电子学报 1999,Vol.27 No.7:31-34
[2]Naval Undersea Warfare Center Division Newport,Space and Naval Warfare Systems Center San Diego,Naval Oceanographic Office,Naval Surface Warfare Center Dahlgren Division,Coastal Systems Station,and the Johns Hopkins University Applied Physics Laboratory.UUVMaster Plan (2004 update)[R/DE].2004
[3]Walton J.M.;UhrichR.W.114 untethered UUV dives:lessons learned.OCEANS'95 MTS/IEEE,Challenges of Our Changing Global,Environment Conference Proceedings Volume 3,9-12 Oct.1995 Page(s):1433-1438vol.3
[4]冀大雄;陈孝桢;李一平等.AUV长基线系统海上应用中若干问题分析.海洋工程-2007年4期92-95
[5]Waldmann C.;Richter L.Traction properties of the wheels of an underwater crawler on different soils.Oceans 2007 Sept.29-Oct.4Page(s):1-7
[6]Yamamoto S.;Hamakawa W.;Ikeuchi A.etc.Remotely Controlled Jetting Burier for Submarine Cable(MARCAS-200 Crawler).OCEANS Volume 19,Sep 1987 Page(s):1284 1289
[7]Aponick T.;Bernstein C.Countermine operations in very shallow water and surf zone:the role of bottom crawlers.OCEANS 2003 Proceedings Volume 4,22-26 Sept.2003 Page(s):1931-1940 Vol.4
[8]孟庆鑫;王丽慧;王立权等.水下船体表面清刷机器人方案研究.船舶工程2002年1期,44-46
[9]Woodward B.;Sari H.Digital underwater acoustic voice communications.Oceanic Engineering Apr 1996 Volume:21,Issue:2 On page(s):181-192
[10]周立功.《ARM嵌入式系统基础教程》.北京航空航天大学出版社
[11]http://www.zlgmcu.com/philips/arm/1pc2132.asp
[12]张晓丽;张翼飞;王斌斌.语音控制的智能小车设计.电子技术应用 2005年31卷9期
[13]王晓明.《电动机的单片机控制》.北京航空航天大学出版社 2002年5月
[14]Jean J.Labrosse著;邵贝贝等译.《嵌入式实时操作系统uc/OS-Ⅱ(第二版)》2003
[15]M.Stojaovic.Recent Advances in High-Speed Underwater Acoustic Communications.IEEE Journal of Oceanic,1996,21(2):125-136p
[16]蔡惠智;刘云涛;蔡慧等.第八讲水声通信及其研究进展 物理 2006 Vol.35No.12
[17]Kilfoyle D.B.;Baggeroer A.B.The state of the art in underwater acoustic telemetry.IEEE JOURNAL OF OCEANIC ENGINEERING,VOL.25,NO.1,JANUARY 2000
[18]欧阳长月.《数字通信一传输原理及应用》.北京航空航天大学出版社 1990
[19]R.Coates.Oceans' Underwater acoustic communications.Presented at Victoria,Q C,Canada 1993
[20]R.J Urick著;洪申译.《工程水声原理》.国防工业出版社1972
[21]Rouseff D.;Jackson D.R.;Fox W.L.J.etc Underwater acoustic communication by passive-phase conjugation:theory and experimental results.Oceanic Engineering IEEE Journal of Volume 26,Issue 4,Oct.2001Page(s):821-831
[22]Doisy Y.;Deruaz L.;Been R.Sonar waveforms for reverberation rejection part Ⅰ:theory[A].UDT2000[C].Pacific,2000:19-24
[23]Marksym,Joseph N.;Sandys-Wunsch,Michael Adaptive beamforming against reverberation for a three-sensor array.J.Acoust.Soc.Am,December1997,10 2(6):
[24]A.B.Gershman.Adaptive beamforming algorithms with robustness against jammermotion,IEEE trans,on Signal Processing,1997,vo 145,pp.1878-188
[25]李红娟;孙超.加速度下的水声通信多普勒频移补偿方法.西北工业大学学 报 2007 Vol.25 No.02
[29]M.Fink C.Prada.Self-focusing in inhomogeneous media with time reversal acoustic mirrors.IEEE ultrasonics symposium 1989,12:681-686
[27]D.R.Jackson;D.R.Dowling.Phase conjugation in underwater acoustics.J.Acoust.Soc.Am.1991(89):171-181P
[30]Dowling D.R.Acoustic pulse compression using passive phase-conjugate processing.J.Acoust.Soc.Am.1994,9 5(3):1450-1458
[28]Kim J.S.;Song H.C.;Kuperman W.A.Adaptive time-reversal mirror.Journal of acoustical society of American 2001,10 9(5):1817-1825.
[26]Kevin B.;Smith Antonio A.M.etc Examination of time-reversal acoustics in shallow water and application to noncoherent underwater communications.J.Acoust.Soc.Am.2003(113):3095-3116
[31]张海平;熊祥正.一种超宽带脉冲发生器的设计与仿真.信息与电子工程2006年4卷6期
[32]R.Gagliardi;J.Robinns;H.Taylor.Acquisition sequences in PPM communications.IEEE Tran.Inform.Theory,1987,.IT-33:738-744
[33]S.Patarasen;C.N.Georghiades.Optimum Frame Synchronization for Overlapping Pulse-Position Modulation Optical systems.IEEE Transactions on Communications Vol.40,No.4,pp 78 3-794,April19 92
[34]邹传云;敖发良;张德现等.全数字光PPM接收机的最佳帧节同步.电子学报 1999,Vol.27 No.7:31-34