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博碩士論文 etd-0721110-102840 詳細資訊
Title page for etd-0721110-102840
論文名稱
Title
水下載具泛用控制器架構之研發
Research and Development of General Purpose Controller for Underwater Vehicle
系所名稱
Department
畢業學年期
Year, semester
語文別
Language
學位類別
Degree
頁數
Number of pages
80
研究生
Author
指導教授
Advisor
召集委員
Convenor
口試委員
Advisory Committee
口試日期
Date of Exam
2010-06-29
繳交日期
Date of Submission
2010-07-21
關鍵字
Keywords
周邊裝置、通訊協定、控制器、水下載具
Underwater vehicle, Senor and actuator, Communication protocol, Controller
統計
Statistics
本論文已被瀏覽 5720 次,被下載 1268
The thesis/dissertation has been browsed 5720 times, has been downloaded 1268 times.
中文摘要
載具系統開發過程中需要花一段時間進行感應器及致動器模組規格的評估。過程中需探討要使用商用產品(off-the-shelf products),還是自行開發;各模組間的溝通要採取那一種模式比較符合需求。這些規格一旦定案後,如果系統設計變更或遇到開發瓶頸要調整系統架構的話,是個繁複的程序。尤其是當原型系統(prototype)完成後才發現問題時,牽涉到的幅度更大,需要修改的規模更難以預料。為了縮短系統開發時程及提高周邊元件整合的效率,本研究希望開發一個使用方便且性能穩定可靠的泛用型控制器來解決上述的問題。本研究以「分階」的概念來架構控制器,將資訊分類為如操作者的抽象意圖(高階),載具的動作指令(中階),實際輸出至周邊元件的資訊(低階)。載具的運作即依各階資訊的流程來決定。為了讓ROV載具系統的開發更具彈性,我們安排中高階資訊在水面上的人機介面中處理;而低階的部分則在載具上的控制器中處理。本控制器涵蓋大部分的驅動或溝通模式(串列埠、DA, AD, PWM及DI/O等),控制命令及感測資料的傳遞上,以「語法」式命令及「合流/分流」機制達成。因此當任何控制元件有所更動時,只需修改人機介面中的處理程式,完全不需開啟載具水密箱即可完成。基於作業系統的穩定性的考量,本研究以DOS作業系統為開發平台建置上述概念。我們利用DOS BIOS中斷INT 0x1C來架構一個即時執行緒,依序執行串列埠輪詢、A/D, D/A轉換、DIO切換,資料顯示更新及鍵盤滑鼠等周邊之讀取。我們以此「分階」控制器製作一個實驗載台,用來瞭解推進器、浮力與載具相互的關係。由模擬分析來瞭解問題,並搭配實際水槽實驗去瞭解推進器的動態反應是否滿足載具執行精準高度控制的需求。
Abstract
During the underwater vehicle R&D process, a crucial task in the beginning phase is to decide the specifications of sensors and actuators. The designers need to make decisions if an off-the-shelf product will meet the requirement, or more efforts should be devoted to the development of a component. The communication format undertaken between the controller and the subsystems is another important design issue worth of close attention. Once these specifications are settled, it will be very troublesome to change them afterwards in case a design flaw is discovered. It will be even worse if the problems are found after the prototype vehicle is constructed. In order to ensure the flexibility and shorten the development time, this paper proposes an architecture for general-purpose low level controller suitable for underwater vehicles.
We suggest using the idea of “tiers” to construct a vehicle controller with multiple layers. Generally speaking, there are many different paths of information flow in a vehicle control system. It can be high-level tier and abstractive intention of the human operator interpreted by the man-machine interface; or the mid-level tier control commands to maneuver the vehicle to a specific direction; down to the low -level tier as the raw commands fed to the thrusters. The performance and the reliability of the system deeply depend on the flow of these information and commands. High- and mid-level tiers information can be modeled mathematically, but the low-level tier is product-dependent. In other words, once a new sensor or actuator is installed, the control software related to these components need to be revised accordingly. The modification of the software might exist at multiple places if the structure is not organized as tiers. In order to maintain full flexibility of the vehicle controller structure throughout the R&D period, the high- and mid-level will be implemented in the man-machine interface for ROV case, and in the mission planner in the AUV case. The low-level tier is implemented in the onboard computer. The onboard low-level controller covers a variety of communication format of physical ports, such as serial line, D/A, A/D, D/IO and PWM. Port setting parameters, such baud-rate or DA range, can be specified remotely on the surface. The physical connecting ports of the sensors can be changed freely without rewiring or reprogramming.
Taking the stability of the controller as the top priority, we used DOS operating system as the platform to implement our concepts. DOS has been in the market for more than two decades, but it has the merits of fast in booting, highly stable, efficient in computation. We use its timer interrupt service INT 0X1C to construct a realtime thread to poll the readiness of sensory channels, and uploads the data to the surface via a channel-driven packet. The packets delivered to the surface are split into channels and reconstructed back to their original raw data format. The other necessary service routines, such as DA, AD and DIO, are also embedded inside this thread for its promptitude.
We constructed an experimental platform with this low-level controller to verify if the vehicle alitude control can be accurate enough as the carrier of the Seafloor Laser Scanner developed by our lab. Prior to the experiments, issues, such as whether the bouyancy of the system is pro or con for driving the vechile, were studied with Simulink. The poorness of altitude control caused by the deadzone effect of the thruster failed to be duplicated as in the simulation, while the alitude control gave a tracking error within ± 5cm.
目次 Table of Contents
目錄
第一章 緒論 1
1.1 研究動機 ……………………………1
1.2 文獻回顧 ……………………………2
1.3 研究目的 …………………………… 7
1.4 論文架構 ……………………………7
第二章 控制器設計 9
2.1 開發平台 ……………………………10
2.2 輸出入元件 …………………………13
2.3 命令與資料流程 ……………………16
2.4 語法式命令 …………………………19
2.5 感測元件資料彙整 …………………24
第三章 實驗平台製作 28
3.1 系統核心 ……………………………28
3.2 周邊裝置 …………………………… 29
3.3 通信與電力配置 …………………… 33
3.4 水密箱與接線盒 ……………………35
3.5 外框設計 ……………………………36
3.6 人機介面 …………………………… 36
第四章 模擬與實驗 41
4.1 模擬 ………………………………… 44
4.2 水槽實驗 …………………………… 53
第五章 討論與結論 62
5.1 討論 …………………………………62
5.2 結論 …………………………………64
參考文獻 References
參考書目
[1]Florida Atlantic University Team, ``Development of an autonomous underwater vehicle for the Florida Atlantic University Entry in the 2008 AUVSI Underwater Vehicle Competition,' Florida Atlantic University, July 15, 2008.
[2]T.W. Kim and J. Yuh, ``Development of a real-time control architecture for a semiautonomous underwater vehicle for intervention missions,' Control Engineering Practice, pp. 1521-1530, December, 2004.
[3]Z.M. Zain, R.B. Ahmad and M.R. Arshad, ``Design and development of an RS232-based ROV controller system,' 2004 IEEE Region 10 Conference, TENCON 2004, Vol. 4, pp. 487- 490, Nov. 2004.
[4]E. Desa, P. K. Maurya and A. Pereira, ``A Small autonomous surface vehicle for ocean color remote sensing,' IEEE Journal of Oceanic Engineering, pp. 353-364, April 2007.
[5]R. Camilli, B. Bingham, M. Jakuba, H. Singh and J. Whelan, ``Integrating in-situ chemical sampling with AUV control systems,' OCEANS '04. MTTS/IEEE TECHNO-OCEAN '04, vol.1, no., pp. 101-109 Vol.1, 9-12 Nov. 2004.
[6]J. Guo, J. F. Tsai and F. C. Chiu, ``Design, simulation, and control of a highly maneuverable autonomous underwater vehicle testbed,' in Int Conf. on Technologies for Marine Environment Preservation, Tokyo, Japan,1995.
[7]C.C. Wang, B.T. Hefner and D.J. Tang, ``Evaluation of laser scanning and stereo photography roughness measurement systems using a realistic model seabed surface,' IEEE Journal of Oceanic Engineering, pp. 446-475 Oct. 2009.
[8]邱永芳、郭振華、邱逢琛、蔡金吉,《水下結構物自動檢測系統研究(1-4)》,交通部運輸研究所,民 95。
[9]王兆璋,《抗流型水下遙控載具(ROV)關鍵性技術開發及系統整合-子計畫四:水下潛航器之感測器系統整合》,第八屆水下技術研討會及國科會成果發表會,pp. 75 – 80, 2006。
[10]http://www.pololu.com/
[11]張旭輝,《已非耦合動態模式與投影映射法進行ROV參數鑑別》,碩士論文,國立中山大學,民 95。
[12]黃育倫,《抗流型水下遙控載具運動之模擬》,碩士論文,國立成功大學,民 96。
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