自然科学版 英文版
自然科学版 英文版
自然科学版 英文版

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中南大学学报(英文版)

Journal of Central South University

Vol. 24    No. 3    March 2017

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Design of motion control system of pipeline detection AUV
JIANG Chun-meng(姜春萌), WAN Lei(万磊), SUN Yu-shan(孙玉山)

Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China

Abstract:A great number of pipelines in China are in unsatisfactory condition and faced with problems of corrosion and cracking, but there are very few approaches for underwater pipeline detection. Pipeline detection autonomous underwater vehicle (PDAUV) is hereby designed to solve these problems when working with advanced optical, acoustical and electrical sensors for underwater pipeline detection. PDAUV is a test bed that not only examines the logical rationality of the program, effectiveness of the hardware architecture, accuracy of the software interface protocol as well as the reliability and stability of the control system but also verifies the effectiveness of the control system in tank experiments and sea trials. The motion control system of PDAUV, including both the hardware and software architectures, is introduced in this work. The software module and information flow of the motion control system of PDAUV and a novel neural network-based control (NNC) are also covered. Besides, a real-time identification method based on neural network is used to realize system identification. The tank experiments and sea trials are carried out to verify the feasibility and capability of PDAUV control system to complete underwater pipeline detection task.

 

Key words: pipeline detection autonomous underwater vehicle (PDAUV); novel neural network-based control; motion control system; embedded system architecture; system identification

中南大学学报(自然科学版)
  ISSN 1672-7207
CN 43-1426/N
ZDXZAC
中南大学学报(英文版)
  ISSN 2095-2899
CN 43-1516/TB
JCSTFT
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