Design And Implementation Of Power Control Systems For Unmanned Surface Vehicle

As an important unmanned surface platform,unmanned surface vehicle(USV)has important practical significance both in the military field and the civilian field,and it is also a hot spot of development at home and abroad.The power system is one of the core key technologies of USV.Therefore,the research and development work of the USV power system has important practical value.This thesis will focus on the design and implementation of the power system for all-electric unmanned waterjet propulsion,including the structure and working principle of the waterjet and power system,as well as the hardware and software design of the power system.This thesis first introduces the composition of the all-electric water jet unmanned boat power system,which is mainly divided into two independent subsystems: the main motor system and the steering system.Then the structure and working principle of the water jet propeller and power control system are expounded.Based on the power system of water jet propeller,it can be divided into the main motor control system used to control the speed of USV and the rudder control system used to control the course of USV.For the main push motor control system,a brushless DC motor is used,the motor drive uses a three-phase fullbridge circuit consisting of MOS tube and driver chips,the Hall encoder is used to complete the feedback of the rotor position information,the motor control adopts the classic the sixstep commutation control algorithm,in this part,the design and manufacture of the motor drive board and the compilation and debugging of the software are completed.For the steering control system of the steering gear,a DC motor is used,the steering gear is driven by a classic H-bridge circuit,the 12-position magnetic absolute position encoder is used to detect the position of the steering gear rotor,in this part,the main work includes the design and manufacture of steering gear drive board and the compilation and debugging of servo control software.Finally,the main push motor speed control experiment and the steering servo control experiment were carried out.The water-jet unmanned boat power control system designed in this thesis has been successfully applied on the HUSTER-12 S unmanned boat.The experiments of speed control of main propulsion motor,servo control of steering gear and motion control of USV have been carried out.The data of USV speed,USV course and rudder angle have been compared and analyzed,the feasibility of the power system is verified.During the unmanned boat navigation,the main motor control system and the steering gear control system have shown good dynamic performance and high control accuracy,accord with requirements of unmanned boat single boat motion control and multi-boat coordinated control.