Research On Control System Of An Underwater Weapon Test Device

According to the requirement of position control of orientation system in a underwater weapon multi-axial testing devices, a AC servo motor control system was introduced after comparing with several other servo control methods, such as DC motor servo control and step motor control methods. A method of upper-down computer communicate control was used in the servo motor control system, in which the upper computer's main responsibility is to send control command, and watch testing device's working status, the servo motor motion controller based on DSP mainly control the underwater weapon testing device's motion.Servo controller was studied in this dissertation. The hardware design of the DSP- based motor motion controller was studied in details, such as communication circuit between computer and motion controller, position control feedback circuit, Digital-analogy translation circuit, "watch dog" circuit and so on. The classic PID control algorithm can't meet the requirement of nonlinear AC servo control system, so an adapted PID control method was used to instead of it. That is a neural network PID parameters self -adjusting algorithm was used to control the AC servo system. A AC servo motor mathematic model was set up. The obtained satisfactory results of simulation and practice show that NN -PID control algorithm is very suitable to the testing device control. The DSP-based servo motor controller was successfully used in the underwater weapon test device, the test result prove that the DSP-based servo system controller and the intelligent algorithm were useful and efficient.