The Research Of Mine-hunting Sonar Array Attitude Stabilization Control System

With the rapid development of electronic technology and the variety and intelligence of mine, developing a new and effective countermeasure of mine has been an important part of modern naval defensive industry. The mine-hunting sonar system is produced for this propose, and it detects the mine's positions by using of ultrasonic wave emitted by the sonar array which is installed on the bottom of the ship.In this paper, the "mathematics platform" model of the sonar array attitude stabilization system has been built at first, and the relation between rolling and pitch signals of the ship and sonar array's attitude have been deduced. Then the classical PID control and genetic algorithm PID control of the sonar array attitude stabilization system have been discussed respectively, and the digital controllers have been desigened. By comparing the simulation results of the two control methods, it can be concluded that the system based on classical PID control theory has characteristics of fast response speed and good performance on tracking, but it has high peak overshoot and is lack of the ability of anti-interference. While the design of sonar array attitude stabilization system based on genetic algorithm theory has faster response speed, higher ability of anti-interference and little peak overshoot because genetic algorithm PID control method has little need of initial information about control object and has no restriction on continuity and differentiability of system model. So, the system based on genetic algorithm theory is of better robustness.At last, the software and hardware design of the sonar array attitude stabilization system mentioned above has been completed. In hardware design, PC/104 has been used to realize the control rule and the multi-resolvers have been used to sample the angle signals, and A/D converters have been used to sample the speed signals. And D/A converters have been used to converte the digital controller's outputs into analog signals. Software design has mainly based onVxWorks operating system, and some basic rolls and ideas of software design are presented. The sonar array attitude stabilization system on the basis of above hardware and software was debugged successfully.