Design On Energy And Power System For Autonomous Underwater Vehicle

Nowadays, with the development of science and technology, the applications of underwater robots already expanded in worldwide, such as sea research, scientific investigation, ocean development and underwater engineering, marine environment monitor, sea geoscience data acquisition and seabed Resources and so on. As an important implementation carrier of Underwater Vehicle Technology, Autonomous Underwater Vehicle (AUV) has already become the current research hot spot in various countries.This paper aims at the design of energy and power system studies. Firstly, it introduces the system architecture and the overall function of the various module. And it explains the connection between the energy and power systems and other components. Secondly it separately tells the design of the energy and power system, which enables its to be possible to satisfy the system various sensors, the central cybertron and the propeller energy supplies and the control. Simultaneously it achieves various control of positions movement under water through the bottom of the circuit.Energy system is one important part of AUV. The quality power management system directly influences system performance and hardware's service life. Real-time detection states of the AUV provides a favorable reference to data emergency processing module. It used lithium ion battery after having analyzed several kind of commonly batteries. This paper presents an power management design for AUV, monitoring the robot device voltage, current and temperature information by real-time MCU and peripheral circuits. When the system has failure,it can process quickly. It combines with the advantage of the open circuit voltage and the Coulomb counting method, after having analyzed several kinds of commonly detection methods in the quantity of electricit, which can improve the measurement accuracy.The motion control of power system on AUV is also one of the key technologies of underwater robots. With the expansion of the scope of application of underwater robots, their autonomy, precision motion control and stability requirements are increased. This article will focus on the building a more perfect control system architecture for AUV. Firstly, in this paper, the kinematics and dynamic model of AUV is built and based on the practical needs and the convenience of designing the controller, which is the academic reference and guidance for the following control design and research. Secondly, it uses S3C2440 processor platform to control the brushless DC motor (BLDCM). The speed signal output PWM signal. In order to fully improve BLDCM speed control system for dynamic and static performance,it uses double closed loop design. The outer ring uses position sensorless plan, through the motor three-phase voltage zero-crossing detection of back electromotive force method adjusting the speed. Inner loop through the motor that comes with the role of sensor feedback signal hardware circuit in the normal startup and operation of the motor to overcome the sensorless control start shortcomings, while the motor electric current feedback protects the BLDCM. On the basis of traditional PID control and fuzzy control, it works out a parameters'fuzzy auto-tuning PID controller.It uses the fuzzy self regulating to real-time change the parameter of PID, thus achieves a good dynamic response effects.