Research On The Key Technology Of The Guide And Control System Of The Device Of Frogman Transport

Frogman Carrier is a device for carrying the frogman to campaign in the designated area clandestinely, it must be an important part in locate naval warfare in the future. At the same time,it is one of important tool for people to explore and development ocean.The frogman carrier has many advantages such as high mobility, low cost, easy maintenance and so on. So it can also take on a lot of non-military tasks, for example, underwater rescue operations, underwater pipeline, port detection dredging, bottom inspection, etc. To implement the tasks above, the navigation and control system installed in the frogman carrier is very important, it is the basic guarantee to achieve these underwater activities.This paper has done some research on the key technologies of the navigation and control system installed in the frogman carrier. In terms of navigation system, it has selected the fiber optic gyro strap down navigation system developed by the institute.Researched on the key points:the inertial measurement components,based on the SOPC embedded system structure,strapdown matrix solutiong,algorithm simulation and so on.And has designed the water power device,driver module and interface module.Among them,Directly connecting Self-developed waterproof motors and six leaf blade has constituted the pwer device.And in terms of the design of the control hardware, it has designed the main control panel, serial communication module and driver module with Freecale's HCS12 family chip as the core processor. It has achieved the communication among the FOG SINS, the core control rand the Depth sensor. The main control panel can compare with the navigation data and the depth data, output the control signal to the driver module. Then it can control the waterproof motor, to control the running of the frogman carrier in the water.In terms of the design of the control software, the research designed the control system that is based on theμC/OS-Ⅱoperating system.It also has programmed with the CodeWarrior4.7 application, to achieve the PID algorithm and output the PWM control signal,then the waterproof motor can be controlled.This paper has simplified the frogman carrier's running in the water and established a mathematical model of motion control.Atfer using matlab7.0,It also has done the appropriate simulation for vertical movement and horizontal movement. The result of simulation indicates that the designed control system is stable to control the simple motion of the frogman carrier.After the system debugging test, the hardware devices coordinate in good condition. In the debugging test, the system can output the control signal to control the waterproof motor working in good condition.So the research has basically achieved the expected results.