A Hull-Inspect ROV Control System Architecture

作者：Li Ye; Pang Yong jie; Chen Yan; Wan Lei; Zou Jin

来源：China Ocean Engineering, 2009, 23(4): 751-761.

• Remote Operated Vehicle
• hull inspection
• control system
• architecture

The control architectures of "SY-2" Remote Operated Vehicle (ROV) are introduced. Both hardware architecture and software architecture are discussed. PC/104 embedded computer is used to control equipment for collecting sensor data and sending control commands. PC/104 embedded computer is integrated with A/D, D/A, 8 serial ports card and power supply unit. The surface computer is a X86PC. They transfer data through a fiber line. For software, real-time OS VxWorks is embedded, in PC/104. A/D, D/A and serial ports, operation are based on VxWorks OS, which increase the real-time quality of control system. Surface computer is the center of motion control and data processing. It is communicated with underwater PC/104 by socket. The whole system has been tested both on land and in tank.

• 出版日期2009
• 单位哈尔滨工程大学