| The 21 st Century is the century of the ocean, with the development of modern industrial production, the progress of manufacture and information technology, the structure and function of marine equipments are more and more complex, the requirements of their performance are also getting higher and higher. As an important part of marine engineering equipments, underwater vehicle attitude control is one of the key technologies to complete the task. With the tasks become more complex, the attitude control towards the accuracy, depth and better operating performance in the direction of development. Control moment gyro(CMG) is a kind of angular momentum exchange device, with many advantages, such as the output torque is smooth and large, the device is built-in which does not depend on the motion of the fluid and etc..This paper designs the control system overall schemes of control moment gyros(CMGs) the attitude control actuator of underwater vehicle. Study on the structure and working principle of CMGs, drive motor selection and underwater vehicle attitude control requirements. On this basis, analyze the control requirements of CMGs, design control system, and design the two aspects of hardware circuit and software in detail.Analyzes the CMGs work performance requirements, on the basis of that the control system hardware circuit is designed. This paper discusses the design process in detail of the motor drive circuit based on special integrated circuit and the lower machine of microcomputer circuit. According to the principle of the motor drive and control requirements, the detailed design of brushless DC motor driver based on MC33035 and dc motor driver based on L298 N is finished. Single chip microcomputer is designed as a lower machine to control a group of CMG drive motor, four lower machine controllers and the upper PC adopts multiple machine communication mode based on RS-485. In order to realize the monitoring function to CMG, the circuits of serial communication, D/A conversion, relay outputs and digital display is designed. Using electronic design software to complete the related circuit schematic diagram and PCB diagram design, produce and welding circuit board, realize the control system hardware circuit.According to the control principle and control system hardware circuit, CMGs monitor control system software design is divided into the upper machine and lower machine control program. Under the VC++ development environment, the monitoring application is designed based on MFC, provide friendly man-machine interface, which can control the CMGs to alter vehicle attitude and also can real-timer monitor system status. Using MSCOMM serial communication control with single chip microcomputer communication mode, to realize the upper and lower multiple machine communication, custom communication protocol. Lower machine using timer and external interrupt to detect motor speed, and feedback to PC via serial port communication.Debug the hardware and software system in separate and joint, the attitude control experiment is based on the debugging and modification.Test results are consistent with the simulation, and the control system worked well during the test. The results of the tests shows that the designed control system can effectively control the CMGs to alter the attitude of vehicle, meet demand for underwater vehicle attitude control. |
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