Designing Of The Electromechanical Interfacing Equipment's Arm And Researching The Electromotor's Driving

Underwater vehicles, which are important in the architecture of ocean technology, belong to a new technology with the developing of national defense and exploitation of ocean resource gradually. Underwater mating is the key technique while operating in water. After mating successfully, the other mission of mating device is to transfer people or material between submarine, ocean station and underwater vehicle.The main research of this paper are the design of hardware and software in transmissive mode and driving control layer of the new type of the electromechanical interfacing equipment. According to the main scheme of the system, firstly, we are analysing the kinematics of the interfacing equipment, putting forward the new transmissive mode of the mechanical arm: combinative mode of screw and nut. The electromotive screw is driving more exactly, and it has lock-it-self nature. Secondly, the TMS320LF2407A DSP system is designed as the main micro-controllor, which includes power management, COM interface, etc.When designing the software, the main function "speed" single closed loop control, are complete. Using DSP, the PWM signal, signal acquisition and speed control are achieved successfully. In the paper, we are detailed analying the kind of software's module. At last, the experimental results of sample motor are presented. It will be establishing the base for perfecting and ameliorating experimental machine in the future.