The Development Of Control System Of A Submarine Hover And Equalization Experiment Device

Because of its powerful capabilities and deterrent effect, submarine has attracted much attention in the navies. It has an important military significance for improving its capability to research submarine operation control method and the regular.The hover and equilibrium experiment device, not only can be done in the laboratory hover and balanced control technology and control regular research, but also does research resistance to sink and fault- tolerance for new submarine in the lab.Hover and equilibrium experiment device includes the display console, a water system and gas system, etc. Among them, the water system is divided into hovering simulation subsystem, buoyancy balance simulation subsystem, trimming simulation subsystem,uses the appropriate volume of the pressure tank to simulate real craft hover private water tank, buoyancy adjusting tank, trimming water tank and connects them to the depth of the water tank simulating outboard with the pump valve close to craft equipment according to the basic requirement of yachts. In the local electric mode, the display console control independently the corresponding pump valve to complete hovering artesian water injection, hovering water tank filling water pump drainage, balanced water dumping, bilge pump/balanced pump drainage, water removing between trim water tank, etc. Local automatic mode, the display console via Ethernet receive heavy machine instructions to complete the corresponding working condition. In remote control mode, control of the pump valve is switched to fault-tolerance console and the hover and equilibrium test are completed by it; display console only displays state of pump valve and upload information to Ethernet.Ethernet is built between hover and equilibrium display console, fault-tolerance console, resistance to sink console and submarine motion simulation device and they use UDP protocol for data communications. Display console with Siemens S7-300 PLC as the control center,uses the integration interface DP of CPU and CP communication module respectively to establish two PROFIBUS DP fieldbus network. All PA sensors build a PA PA bus network and then is access into 1#DP network; The water flow control valve and exhaust valve group with CAN interface are composed of two CAN bus network using PB-B-CAN equipment access into 2#DP with all DP flow sensor network. Internal of PLC uses communication module and control function block to realize the data acquisition and processing, and the result of logic operation was output to the specified pump valve to achieve the corresponding closed-loop control function. The control of depth of the tank pressure control and diifferential pressure bettween inside and outside of hover tank is performed by gas path for exhaust valve group and water injection displacement adjustment by the water flow control valve.PLC connectes to the PC through its PROFINIT interface uses UDP protocol for data communications. Regardless of the device is in what kind of work mode, the PLC will be collecting the state of the pump valve, flow, pressure, liquid level, such as signal and upload cycle them to the PC. At the same time, the received information are displayed in the form of graphics, curve and digital on the main interface of PC.