| The carrier vehicle for underwater ejection test is a special facility that is used to simulate the movement of actual underwater vehicles at a set speed,conduct dynamic ejection tests of underwater scaled models,and verify the key technologies of underwater launch.This equipment is of great value to the modernization of our country’s national defense and military,as well as the modernization of weapons and equipment.In the case of models scaling,in order to satisfy the similarity theorem of hydrodynamic during the process of underwater launch,the atmospheric pressure of test pool is lower than the standard atmospheric pressure,is referred to as the negative pressure pool or de-pressure pool,and there is a certain relationship(de-pressure ratio)between them.In addition,in order to simulate marine environment,the supporting facilities such as current generation,wave generation are necessary.Therefor we can deduce the test environment has two major characteristics,one of is de-pressure,so the people can’t stay the pool to pre-control the carrier vehicle and the methods of communication between people and vehicle are limited.The other is that the test environment has complex and changeable characteristic due to the current and wave generating.For the purpose of completing the complex test process in the de-pressure environment and achieving the highprecision speed and position control under the various conditions such as different level of current and wave,different vector of carrier,different depths of pool and limited movement space.Autonomous motion control technology and servo control technology of underwater carrier vehicles need to be studied.Based on the construction of our country’s new generation digital twin de-pressure pool,the article has carried out the theoretical research such as the characteristic analysis of underwater carrier vehicle,mathematical modeling of the system,controller designed.Beside completed the actual working such as the design of the system,software development,the testing of each equipment,semi-simulation testing and experiment verification.The main research of this paper is summarized as follow:Firstly,the research background and significance of this article is introduced.The foreign and domestic research status are reviewed including underwater launch technology,testing facility,carrier vehicle,autonomous motion control technology,server motor control technology.Secondly,the digital de-pressure pool is introduced.Combined with the design of the de-de-pressure pool,the system composition of the carrying vehicle is analyzed.Based on the environment and the required,it is concluded that the process of the controlled object is complicated,the working environment is complex and changeable,the movement space is limited,and it has high-precision control requirements.Facing the unmanned environment,the complicated process and the limited communication means,this section focuses on the autonomous motion control principle of the underwater vehicle.Thirdly,based on the analysis of the above characteristics,a complete mathematical model is established for the system of the carrier vehicle.It mainly includes the kinematics and dynamics mathematical model of the carrier vehicle,the mathematical model of the PMSM,the mathematical model of linear wave,and the system equation of the carrier vehicle is derived.In view of the time-varying,nonlinear,disturbance contained in the system model,the servo control method of the motor is studied,the PI speed controller under the PID architecture and the ADRC controller based on the DOB architecture are designed,and the phase-frequency characteristics of the system are analyzed,and give some parameter’s selection method.In addition,based on the theoretical analysis of the first three chapters again,the development of the control system of the underwater vehicle is carried out.The work includes three aspects: the technical design of the control system,the selection of hardware,and the realization of the software.Respectively include the design of driving mechanism,power system,and control system;the hardware realization of controller,sensor,power battery,the realization of autonomous motion control software,and the realization of servo control software.Finally,the actual experiments were carried out to verify the motion control system designed.According to the project plan and schedule,following the test idea from part to system,from unit to whole,a series of experiments were carried out such as single equipment test,semi-physical simulation test,multi-party joint debugging and field testing.The performance of each hardware device,the control performance of the designed control system and the actual control effect were verified separately.In addition,the parameters of the simulation model are optimized and perfected through the experimental data obtained by the experiment,so that the established simulation model has certain reference significance for the design of the control algorithm.Therefore,the ADRC controller verified based on the simulation model has great reference value in actual project. |
