| Summary: | 碩士 === 國立中山大學 === 海下技術研究所 === 86 === The Remotely Operated Vehicle (ROV) is an important tool for under-sea operation, and can be used for various tasiks tasks such as inspection and repair.In this thesis, a microcompute-based control system for an ROV is developed to establish fundamental under-sea technolgy. Haradware equipment will be designed, chosen and assmbled by ourselves. Software Programs will also be implemented for control andcommunication purposes. This controsystem will be applied for a new ROW for the future research.
The microcomputer-based control system can be divided into two parts: the hardware stucture and the software programs.The hardware strueture consists of a control console module, a vehicle control module and a sensor module. The control console is a pc with input control devices such as a joystick and a''keyboard, and a display monitor as an output device. A CPU device. A CPU card and several data acquisition control cards are incorporated into the vehicle control module. An electrical compass and a pressure transducer are combined to be the sensor module. The software programs offer communication of data and control signals between the vehicle and the control console. In the full-duplex communication mode, measured data is sent to a mother ship from the ROV and control commands are sent back to the ROV from the mother ship at the same time. Some tests for the microcomputer-based control system are also conducted to assure correct proper functions.
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