The Research Of New Servosystem For A AUV Joint

When an AUV (the abbreviation of Autonomous Underwater Vehicle) executes the tasks in the sea, the Autonomous Underwater Manipulator (AUM) is its absolutely necessary performance unit. Structure of manipulator position servocontrol system, servocontrol strategy of joints and power management system are important research content of AUM. For the special requisition of the cubage, the waste and the power, the digital servocontrol strategy is put forward in this thesis. It discusses and researches in several sides which is given below: 1. According to the qualification of the AUV servosystem, its gross structures is designed. And the author analyses the operation principle and function of several parts. 2. To satisfy the miniaturization and low power in the AUV servosystem, through circuit analysis and emulation by PSpice, a new PWM power-amplifier circuit of bridge structure is designed. To enhance system performance, the thesis employes two close loop control method, which include velocity loop and position loop. Based on the analysis on math model of every unite and system simulation by Matlab, a proper control strategy is established. 3. The hardware and software design of digital position servocontrol system, in which PIC16F876 used as central processor, is introduced particularly. During the practical application, EMC design is summarized for the reference. 4. After the analysis of power bottleneck, which limits the development of AUV, the power management concept is brought up. Realization of the power management system, used in the AUV position servosystem, is present. Finally, the project, preliminary checkout in the lab, is briefly summarized. Digital AUV control system supplies the better method to achieve miniature and low-power equipment. The existent problems have been mentioned in the thesis. Some advice has been given to improve the system.