Underwater Acoustic Measurement Using Rotary Fixed Depth Control System Research And Development

On the background of the develop of the acoustic survey device, this paper aims to study and develop its orientation and depth control subsystem.Because the system has the special performance of ultraslow-velocity, low-noise and high precision of orientation, the orientation and depth subsystem is designed on the base of the numeric PWM control technique of BLDCTM (Brushless DC Torque Motor) , with the precondition that the system is set up in the mode of Distributed Control System.The BLDCTM control structure is composed of electric current, velocity and position feedback loop. As the control algorithm was concerned, the PID control algorithm is used in the electric current loop while the fuzzy-PID algorithm is raised in the velocity and position loop. Furthermore, to accomplish the drive of BLDCTM and the feedback control of the electric current, the motor driver is designed in the paper, which takes ATmega8 MCU as its core. At the same time, on the base of AT90S8515 MCU, the communication controller is developed to accomplish the task of feedback control of velocity and position, the data communication with the industrial computer, etc.In the end, the modeling and simulation of the system is performed. And the result shows that the fuzzy-PID algorithm adopted in the velocity and position feedback loop can fulfill the control system's requirement of orientation and velocity response. Thus validates that the fuzzy-PID algorithm is feasible in the system.