Research And Implementation Of Control System For Maneuvering Simulator Of DSRV

Manned diving simulator has been widely used in daily training of personnel,However,for the special object of deep submergence rescue vehicle,because of the complexity and uncertainty of sea conditions,higher requirements for the control and manipulation of the staff are required.The simulator with single performance can not meet the needs of skills training,Therefore,the research and development of training simulator has a creative significance.In this context,based on the analysis of the control principle and hardware structure of the submarine,the whole system is divided into eight modules according to the function,development and improvement of the underlying application program and hardware scheme of the system software are respectively developed;According to the results of phased development,a control simulator for the training simulator of deep submergence rescue vehicle prototype has been developed.The system can not only realize the basic training of manipulative skills,but also add the design of special functions to solve the limitations of the existing analog devices.This paper takes a maneuvering training simulator for a deep submergence rescue vehicle as the study object.Firstly,the motion equation of six degrees of freedom is established,taking position and heading angle control as an example,the motion equation is simplified on the basis of correlation theory,the transfer function between the force and the force is solved.Based on the structure features and motion analysis for DSRV,a fuzzy PID controller is designed,by comparing the MATLAB/simulink simulation results and conventional PID control,verifying the fuzzy PID controller designed in this paper can achieve better control effect,and has features of fast response and small overshoot.Then,the simulation training platform and embedded control development board for deep submergence rescue vehicle are constructed.The power supply scheme and function realization circuit principle of each part are designed;Taking the STM32F103ZET6 control chip as the core,the system sampling circuit and the I/O expansion circuit are designed,By using S7₁200PLC,the communication scheme based on RS485,peer to peer and Ethernet is realized,and the problem of dealing with large amount of data is solved.In order to solve the electromagnetic interference problem between modulus and digital signals,detailed anti electromagnetic interference design is carried out to control the PCB board,such as module,number signal,separation and layout,etc.In addition,MCGS configuration software is used to realize real-time monitoring of manipulation data.The task is divided into three parts: control training simulator,control system,visual control system and six degree of freedom platform.This article mainly aims at the control system part to carry on the research design.through debugging,the results show that DSRV simulator developed in this paper can realize the basic function of the actual equipment,to verify the research operation and training simulator and embedded control system theory and application.