The Design And Study Of The Control System Of Rotor Mooring Platform In USV

When the USV(Unmanned Surface Vehicle)in the ocean,usually to use the UAV(Unmanned Aerial Vehicle)to detect the situation the surface of water.But due to the limited of battery and a variety of disturbances such as airflow,the UAV will not be leaded to sustainable flying any more,and these disturbances will cause the signals which collected by UAV to be transmitted inaccurately.Rotor mooring platform takes advantage of the tethered balloon’s principles and then putting this platform in the USV.This paper aims at to study and design the launch and recovery control system of the cable in the rotor mooring platform,to make the UAV having better following features and could keep relative static with the USV.Firstly,the rotor mooring platform has been designed from overall perspective.The essence of launch and recovery control system of the cable is control the tension.The effect of control would direct impact the following features and stability of the UAV.So in this paper,I study the control principle and control method of tension,then in allusion to the hovering state of UAV,taking the method which is to keep the cable’s tension constantly and choosing the Brushless DC motor to drive the winch in this platform.Secondly,aimed at the system requirement,hardware circuit and software process has been designed which was based on BLDC and TMS320F2812.Also Fuzzy-PID control designer was adopted to control the speed of the BLDC.Through to control the BLDC’ speed,to realize cable’s launch and recovery.Finally,in the MATLAB/Simulink environment,the launch and recovery of cable in the rotor mooring platform control system model which is based on BLCD has been build,the three-phase circuit,three opposite force,the electromagnetic torque waveform were given,and also the simulation of BLDC which is the UAV from flying to hover state was given too.The results are consistent with the theoretical requirements.And also,the speed waveform,system error response waveform and capacity of resisting disturbance respectively based on traditional PID control and Fuzzy-PID control are compared and analyzed to verify the feasibility and accuracy of Fuzzy-PID control.At last,the paper gives a brief summary and prospect,and point out the corresponding deficiency and limitation.