Research On Control System And Experiment Of Hydrodynamic Experimental Platform Of Variable Vector Propeller

Submarine is one of the most important facilities in ocean exploitation and research. With the development of submarine it requires lighter, smaller fittings, and meanwhile must satisfy the maneuverability demand. Variable vector propeller is composed of groups of blades, which extend into the water from the hull and circle the axis plumbing the hull. These blades revolve around the circumference track, at one time they also rotate around its own axis. By using this type of propeller, it certainly seems to be able to reduce propellers and consequently to contribute to the compactness and the light weight of submarine.Variable vector propeller studied in the paper is mainly designed for the hydrodynamic experiments. The structure of propeller comprises driving disk, blades as well as their drive devices. It mainly works out the control system for the propeller's hydrodynamic experimentation platform. Moreover it makes research for this system.The control system of variable vector propeller hydrodynamic experiment platform adopts concentrated control method. The control system takes ATMegal28L and FPGA (Field Programmable Gate Array) as the control core. It is made up of ATMegal28L high-performance SCM, power amplification module, memory module, communication module and FPGA module. The three-to-five vanes are driven by DC motor. The power amplifier IRFP450 is designed as the core to realize the drive of blades.According to the cycloid rule of propeller's blade, it calculates the relationship between the blade's movement and the driving disk's position. And the movement rules of the blades are saved in the Flash, so that they can be real-time applied. Developed based on uC/OS-â…¡real-time operating system software, it achieves a 3 to 5 DC blades position servo control.Based on the servo control theory research, the dSPACE/Simulink real-time simulation platform is used to design the HIL simulation for the vane servo drive system. Here the blade transmission system is in the loop. The blade position servo control arithmetic model is transformed to the simulation model of the Simulink linked the RTI. Accordingly, the HIL simulation system is established. Apply of the real-time testing and shown tool-ControlDesk, the servo control parameters of the blade can be regulated in due course. Henceforth, variable vector propeller is applied in scene experiment of the shipping pool laboratory. The actual movement data of propeller's motion is obtained. Compared to academic data, the system is feasible.