The Design Of Servo Control System For High Speed Underwater Vehicles

The bubble produced by the underwater ultra-high speed vehicles will sail vehicles and water separation. It reduces most of the resistance for the underwater ultra-high speed vehicles. So the vehicles have the ultra-high speed performance of the water. Military power in the world have invested heavily in research and development of technology-based underwater ultra-high speed vehicles. But there are many problems in the technical development of underwater ultra-high speed vehicles control, such as the instability of the ultra-high speed vehicles and cavitator steering control problems. This paper completed the design of servo control system for high speed underwater vehicles and the research for semi-physical simulation technology.Firstly, according to analyze the force for high speed underwater vehicles, the nonlinear kinematics and kinetic model was built. The model is based on Newton's three laws and the corresponding kinetic theory. Simplified longitudinal motion was built through the perturbation linear theory and some assumptions for the model. The control characteristics of the vehicles were get by the analysis for the model controllability, obervability and stability.On the basis of the system model, the principle of the servo control systems was analyzed.The basic working principle of cavitator servos was introduced. The control way of the linear servo motor was described. The overall structure and design for the servo control system was get by the analysis for the demand of the system.Secondly, according to the corresponding system requirements, building embedded servo control system based DSP and CPLD,which provides the hardware platform for steering control and semi-physical simulation. Describing the system requirements and DSP peripheral modules and designing the system hardware system. The system includes DSP main control circuit, CPLD interface expansion circuit, servo pulse acquisition and control circuits,communication circuits etc.Again, on the basis of the experimental hardware platform, introducing the development environment of CCS and Quartus system, analyzing the overall system and the requirements of servo-loop simulation, giving the system interface extension program flowcharts,communication flowcharts for the whole system and the diagram of the system loop simulation framework. The pulse driver program of the servo, control algorithm program, and data logging interrupt program were designed in detail. Finishing loop simulation lower software preparation. Building a software test platform.for testing the steering gear control system.Finally, based on the vehicles model, the deepth controller for the steering gear control system was designed and anaylzed. Discussing the several commonly used fixed depth control laws for the underwater high speed body control, and comparing these control laws.According to the actual system requirements, the control law which has depth, pitch angle and pitch rate was determined to use for fixed depth control system. Based to cavitator servo travel less, limit the magnitude of the effect depth control laws were designed. Combined hardware and software part of the steering gear control system,semi-physical simulation experiment was done. Servo drive and depth control algorithm has been verified. The simulation results show that the depth control to limit the magnitude of the effect is expected to be able to achieve a good feature to achieve the performance targets control systems.