Design And Realization Of Control System For Nautical Electromotion-Rudder

This research was concentrated on designing and implement main rudder servo system of ship main/flapped rudder system. Adopted digital signal processor of TMS320F2812 as main controller and the permanent magnet synchronous motor(PMSM) as executor. The main content included designing of collectivity scheme,building PMSM's simple model and researching of motor controlling method,4 designing of controller,designing of hardware circuit,designing of software procedure and experiment of jointing hardware and software.In designing of collectivity scheme aspect, designed the whole system structure, adopted half-closed loop structure; and validated the correctness of choosing component, such as DSP,motor and IPM.In researching of motor controlling method aspect, according to vector control method made the PMSM math model simpler . Realized the space vector pulse width modulation based on input variable which is reference variable of two-phase static coordinate, and optimized it for less switch waste.In designing of controller aspect, adopted three closed loops structure, For the used as practice project, PI controlling way was used in inside circuit loop and speed loop, and variable structure controlling way was used in outside position loop. Emulation proved that the controller was good on current following,speed rapid and position nicety.In hardware designing aspect, designing concerned system main circuit,power circuit,controller circuit,interface circuit and dependability. Introduced the reasons and matter need pay attention, explained the way of some important components chosen and their parameter. Realized the hardware by PCB.In software designing aspect, designed the main procedure and several interrupt subprograms, and gave the procedure sketch maps. The key subprograms such as rotor position initialization,speed measuring and position measureing were given detailed designing and implementing means. At last, did joint experiment of hardware and software, made the system running on the different conditions and tested the current,speed and position's experiment results. The results prove that the designing system has good capabilities, and can achieve the anticipating aim.