Design Of Steering Gear Control System For Autonomous Underwater Vehicle

Autonomous Underwater Vehicle( AUV) integration mechanics, dynamics, electronics, control science, underwater acoustics, fluidics, communication and other fields of knowledge, is a very complex, multi-disciplinary technology category. The AUV equipped with vertical auxiliary propulsion devices , collision avoidance sonar and so on.Steering gear control system is an important AUV executing agency, which determines the performance of a direct real-time steering the performance of underwater robots. Paper analyzes the current home and abroad for research in the steering gear control system, from upgrading the system performance and scalability point of view, using FPGA-based controller, servo control system. The control system is mainly divided into bus interface unit, pulse output unit, position feedback units and digital IO modules four parts. The main contents of this paper are as follows:First, the analysis of steering gear control system design requirements, formulated a FPGA controller core design. According to AUV for the communication rate and reliability requirements, the industrial computer and the various boards is communicated by PC/104 bus.Secondly, the paper focuses on the steering gear control system hardware and software design principles, mainly in the heart of the FPGA controller control module design. Papers for the device selection, each unit circuit design, control theory and control algorithms have carried out a detailed description. Hard system uses a software design ideas, application of the Verilog HDL hardware language, the language is easy to understand, making the system real-time performance is guaranteed.Finally, the embedded hardware and software systems are designed and simulated by Quartusâ…¡and Protel DXP and other electronic design automation development tools. The system design uses FPGA + Verilog HDL + EDA tools for digital system consisting of on-site integration technology.The technology is flexible operation, using a wide range, and low-cost and so on. The entire system was designed with fully digital control scheme, making the system more compact, more reasonable and economical. Because the system's all-digital technology, making the whole system has become very reliable operation, which greatly improves the system's real-time performance, and anti-interference.