Research And Design On The Electric Servo Control Systems Of Catamaran Hydrofoil

The electro-hydraulic servo system used widely at present has low accuracy and demanding high requirements on the environment. Considering the ac servo system and mechanical manufacturing technology have developed rapidly, the technological scheme of the breasted tail electrical servo system was put forward. The controller was designed by using the equivalent-sine method and the hardware of the supervisory system was designed which based upon the Digital Signal Processor and the Advanced RISC Machines. After the design of embedded control system, the synchronization control between two breasted tail was also studied.Firstly, on the basis of the analysis of the dynamic load torque of breasted tail and the comparison of common servo motor, the permanent magnet synchronous motor was chosed as the actuator and the power range of the servo motor was estimated. According to the operating characteristics and the parameter requirements of the breasted tail, the closed-loop control strategy of the permanent magnet synchronous motor was chosed and the whole structure of the breasted tail servo system was designed which including the deceleration devices,actuators, detection devices and monitoring devices on the basis of the mechatronics principle.Secondly, the mathematical model under the rotating coordinate system was established after analysing the permanent magnet synchronous motor mathematical model at different coordinate system. Based on the analysis of the reduction gear and the breasted tail, the model of the actuator was established and the mathematical model of the breasted tail servo system was built, which based on vector control theory and the SVPWM technology.Then, the monitoring platform of the breasted tail servo system was built, which involved the servo motor controller and the monitoring system, they were linked via serial communication interface. The Digital Signal Processor TMS320LF2812 was the core of the servo motor controller which constituted the breasted tail's angle closed loop control system by adding the servo motor control on the basis of the intelligent sensor, which was the core control unit to implement the data acquisition, processing, communication and the serve motor control. The monitoring platform which embedded the WinCE system not only monitored the breasted tail servo system real-time by displayed the servo system operating state information in the form of text and graph, can also queried the history operation information of the breasted tail servo system when it was in motion.Finally, according to the equivalent-sine method, the closed loop controller of the breasted tail's angle servo system was designed and the response speed and the tracking accuracy was verified. On this basis, the master/slave synchronization control simulation model and the cross-coupled synchronous control simulation model were set up and their difference were analysed by simulation, then the synchronization control strategy between double-breasted tail was chosed.