【作者】 孙建梅；

【导师】 王立权；

【作者基本信息】 哈尔滨工程大学 ， 机械电子工程， 2003， 硕士

【摘要】 本文是结合海军装备部“十．五”重点研究项目“水下修理平台对接装置”的研制工作进行的。本文论述了水下对接技术的国内外的研究动念和研究意义。论证了对接装置的总体方案，对六自由度并联机构液压缸的受力进行了分析和计算，分析了并联机构装置动平台的作业空间。同时设计了六自由度并联机构装置的总体控制方案，论述了液压伺服控制系统，对单缸控制系统的性能品质进行了分析和仿真。 对针对接实验装置的方案，设计了基于89C51单片机的控制系统硬件电路，其中包括A／D转换电路、D／A转换电路、伺服阀驱动电路、电磁阀驱动电路、PC机与单片机之间通讯的接口电路等，并完成了控制系统硬件电路的调试。 针对控制系统硬件电路即对接过程策略，用C51编制了直接控制机89C51单片机的软件；采用VB高级语言编写了PC机的显控软件及通讯程序；并对上下位机的软件进行了调试，实现了在控制面板上实时显示对接信息，完成控制系统软硬件的联调。 在水箱中进行了对接装置的实验联调，综合显控系统实现了对对接装置的控制，并能实时显示对接装置的状态，同时测试了橡胶气囊密封性能，验证了该种水下密封形式的可行性。更多还原

【Abstract】 The paper is based on the important research project "Interfacing Apparatus of Underwater Repairing Flatform" among the "ten. five" Project of the department of the navel equipment. The paper discusses the research significance and internal and external resent development of the underwater interfacing technology. The paper also discusses the whole project of the interfacing apparatus, analyses and calculates the force of the hydraulic cylinder of the six-degree parallel structure and the workspace of the moving flat roof of the parallel apparatus. At the same time , it designs the whole control project of the six-degree parallel structure apparatus , discusses the hydraulic-servo control system, analyses and simulates the character of the control system of the single hydraulic cylinder.According to the project of the interfacing experimental apparatus, The hardware circuit of the control system with 89C51 single-chip microcomputer has been designed, which include the circuit from analog signal to digital signals and the circuit from digital signals to analog signals , the drive circuit of the electromagnetism~valve and servo-valve, the communication interface circuit between the single-chip microcomputer and PC and so on. All the hardware circuits have been tested.The software in C51 language of the single-chip microcomputer has been developed according to the control strategy and the hardware circuit; The integrated display and control software and communicationsoftware is developed in VB advanced language in PC; The software of two aspects has been tested. The function of displaying the interfacing status at actual time has been realized on control panel. The combined test of the hardware and software has also been done.The experiment of the interfacing apparatus has been done in the water tank. The function of controlling the interfacing apparatus has been realized and the status of the interfacing apparatus has been displayed in PC. At the same time, the hermetic character of the latex gasbag has been tested. The feasibility of the kind of the underwater hermetic form has been validated.更多还原