【摘要】 对ROV动力定位系统(DP)的控制时序和事件触发逻辑进行了分析和设计。解决了包含有核心控制策略算法的动力定位系统与ROV自身水下计算机(下位机)之间的控制时序的匹配问题以及事件触发逻辑关系的相互响应问题;此外,采用线程同步和时钟校验的方法以确保动力定位系统对通讯数据包的实时跟踪处理。从试验情况来看,本文提出的设计完全满足实际工程作业的要求。更多还原

【Abstract】 This paper makes an analysis and design of ROV’s whole control system, especially aims at solving the timing & sequence matching problem and the events triggering logicality between the surface Dynamic Positioning system and the subsea computer.Further more,the method of threads’ synchronization and timepiece checking is used to ensure that DP can track every communication data packet in phase.From the experimental results,the proposal forwarded in this paper can completely satisfy the requirements of ROV’s real engineering performance.更多还原