Research on Hydraulic Steering Servo Control System of An Underwater Vehicle
|School||Huazhong University of Science and Technology|
|Course||Mechanical and Electronic Engineering|
|Keywords||Underwater Vehicles Hydraulic steering servo control AMESim DSP|
As a new information operations platform in the future underwater, the underwater vehicle has become one of the marine equipment that many countries competing to research and development. In this paper, According to an underwater vehicle position control performance requirements of the rudder, Designed hydraulic steering servo control system, mathematical model of the system is derived and the dynamic simulation, some of the characteristics of the servo control system designed DSP-based electronic control Unit, and conducted field test study. Main tasks are as follows:Firstly, based on the actual needs of an underwater vehicle, a hydraulic steering servo control system has design; Introduced the rudder servo control system of hydraulic components and working principle; Completed the design and selection of the key components and assembly sketches.Secondly, a mathematical model of the hydraulic steering servo system is established, that on the basis of the fluid dynamics equations what the flow equation and equation of motion and linear equation. And AMESim simulation software is applied to analyze the dynamic response characteristics and the capacity of resisting disturbance. the simulation results show the feasibility of the system.Thirdly, electronic control unit uses a DSP (TMS320F206) as the core controller, Discussed the overall structure and the main function unit circuits and the design of software modules, which of the controller. The main function unit circuits include the communication circuit between controller with computer, the D/A conversion circuit and the watchdog reset circuit. Software is based on TI’s RF3 frame design, modular programming ideas, introduced the program control flow and initialization process.Finally, the hydraulic steering servo control system is test and pilot studies in an underwater vehicle. Test results show that the correctness of the simulation study and the feasibility of the project, which to meet the application requirements of the underwater vehicle.