Research And Realization On The System Of Deep-water Motor Power Supply And Control With One Cable

As human work in the deep sea areas more and more frequently, a variety of mechanical and electrical devices are increasingly used in mineral resources exploitation, geological prospecting, bio-resource collection, scientific study and so on. Deep-water motor as a key part of the various devices are widely used in such as deep-sea drilling, mechanical hand, TV grasping, robotics, etc. It is significantly for each deep-sea operation that the motor can run reliablely, efficiently and long-lastingly.On China's deep-sea scientific investigation boat "Da Yang Yi Hao" of the equipment which used deep-water motor, based on "power and data hybrid transmission technology", this paper describes the design of deep- water PMSM motor controller. This paper is divided into three parts:First, this paper analyzes the principles and applications of "power and data hybrid transmission technology".The "power and data hybrid transmission technology" is mainly to solve the problems of tension energy supply on deep-sea equipment, and it abandons defect of power lithium battery mostly used as a power source in past.1kV DC voltage through 10Km of coaxial cable from desk as energy supply for deep-water equipment by high voltage DC/DC, while all control and video data are transmitted on cable.Secondly, this paper focuses on researching the permanent magnet AC servo system and permanent magnet synchronous motor sensorless vector control method, and the design and implementation motor controller that the voltage is 300V, power is 3KW. Hybrid transmission technology can be used to power and control the deep-water motor. Hardware based on the latest ARM Cotex-M3 processor STM32F103VBT6, and also including the power driving module, the current sampling, optocoupler isolation communication, power management circuit. The system software base on ST semiconductor company's STM32 standard peripheral library function and PMSM motor FOC vector control algorithm library, and implementation sensorless basic remote control function of starting, stopping and speeding up and down.Finally, describes the process of debugging the motor controller. The hydraulic pump used for the load of power testing and using PC UART port to directly control the motor and real-time monitor its status.