Research On Experimental System For Hovering Control Of Submarine

Hovering is one of the important operations to achive submarine's stealth. Hovering control experimental system is set up in the laboratory to not only do research on hovering control law and control technology, but also to be a test device for land-based control equipment.In this paper, pressure tanks is set up in the laboratory for hovering control experimental system to simulate the hovering cabin's injection-drainage-water. The pressure control is done to simulate depth of the submarine and the two hovering tank is set to simulate hovering cabin. 3 tanks's pressure is controlled by the flow of injected water and a pressure difference must be maintained to achieve automatical injection. Through pumps, the water is drained outside. In accordance with the functional requirements of the control system, it works in two modes: single and coordinate. in single-mode, it completes the research on hovering control law and control technology; in the coordinate-mode, it completes the experiment on land-based control equipment. Build model of pressure control system for depth tank and work out its mathematical model as well as use simulink to do the digital simulation. The results shows that the experimental system is feasible. Based on the basic framework, it's proposed in this paper to use OMRON PLC for the core control combined with CX-Programmer6.1 to develop programme. It achieves the collection of system signals, logic control and process control. And through the controller link network, communication is built between PLC and IPC with a high transfer rate. Driven software Finsgateway is used to develop PC monitoring software.In this paper, the control system uses a modular structure. It comes out to be easy to operate and maintain. Preliminary experiment shows that the system is stable and it establishes foundation for the completion of the entire control system.