The Study Of Digital Control System For Stabilizing Platform Of Mine-hunting Sonar Based On VxWorks

The stabilizing and Control system for Mine Hunting Sonar Arrays (MHSA) and its digital controller are discussed in this paper. Based on the system model, adaptive Fuzzy PID Controller has been designed. Its realization in embedding real-time operating system VxWorks is given. With help of simulating toolbox of MATLAB, the software transfers the resources from MATLAB toolbox of Fuzzy Logic into VxWorks enviroment. The parameters of PID Controller was dynamically adjusted, and realizes the fuzzy adaptive PID control for the system.At the beginning of the thesis, the mathematical platform of MHSA instead of mechanical platform has been built. The function of the platform is to isolate the ship's swing and to provide the rotation angles of sonar array in pitch, roll, and azimuth so as to stabilize the sonar array's attitude.The hardware structure of MHSA and the peripherals based on PC/104 are set; the basic principle of VxWorks operating system and the integrated development environment characteristics of Tornado are introduced; Then by using real-time UML (Unified Modeling Language) to analyze the requirements and modeling of software, the flowchart of software was designed in detail. All subprocesses include data sampling, serial peripheral driver, interupt service, and graphical interface.