Research Of Intelligent Control For Attitude Stabilizing System Of Mine-hunting Sonar Array

Adaptive fuzzy-PID control and DSP(TMS320F2812) based hardware are two key factors used in this project to fulfill the control of the sonar array attitude stabilizing system for mine-hunting sonar arrays in order to achieve the stable and dynamic criterions of the system.At the beginning of the paper, the mathematics model of the system has been built.Then, close-loop and feed-forward control, so called traditional PID control theory have been used to control the system. The simulation results were compared with the fuzzy-PID control. In addition, the theory of adaptive fuzzy-PID control was introduced and adaptive fuzzy-PID controller has been designed. The simulation indicated that the attitude stabilization system designed based on adaptive fuzzy-PID control has higher response speed, more strong ability of disturbance rejection and no peak overshoot, namely, the system is more robust.At last, the software and hardware design of the sonar array attitude stabilization system mentioned above had been completed. In hardware design, DSP had been adopted to realize the control rules and the multi-resolvers have been used to sample the angle signals, and A/D converters have been used to sample the angular velocity signals. D/A converters has been used to convert the digital controller's outputs into analog signals. Then some basic rules and ideas of software design were presented and programme flow chart was designed. At last the sonar array attitude stabilization system based on hardware and software was debugged successfully.