Ship-borne Stabilized Control System For Mine Hunting Sonar Arrays Based On Dual Processors Architecture

According to the characteristics of the ship-borne stabilized control system for Mine Hunting Sonar Arrays (MHSA), a novel hardware structure of dual processors was proposed. Furthermore, an adaptive PID control algorithm based on DRNN was introduced to enhance the robustness of control system.At the beginning of the thesis, the mathematical platform of MHSA instead of mechanical platform has been built. The function of the platform is to isolate the ship's swing and to provide the rotation angles of sonar array in pitch, roll, and azimuth so as to stabilize the sonar array's attitude.Besides, BDCM was applied as driver of angular position PWM servo loops in the thesis. After building model of the servo loops, controller and feed-forward compensators was designed using the Matlab SISO computer-aided design tool in frequency domain. Moreover, simulation study was carried out to verify the performances of controller.Considering parameter varying of the system under strong hydrodynamic disturbance, a DRNN based adaptive PID controller was applied in the design of control system for MHSA. The simulation results showed that adaptive control system could still keep the stabilization and achieve expected precision even under parameter fluctuation.At last, a detailed hardware platform design was given. TMS320C6713 DSP worked as mathematical platform resolver and servo loops were controlled by ATmega128 MCU. Compared with former one, this new design has advantages of lower power consuming, small size and flexible debugging. The design of serial port monitoring program was also introduced in the thesis.