Research On Servo Control System Of Steering Gear Of Unmanned Underwater Vehicle

Underwater vehicle is a new carrier for future exploration of marine resources,with the characteristics of small size,wide range of activities,high stability and so on.More and more countries have invested a lot of resources in underwater vehicles.The steering gear is an important part of the underwater vehicle.With the continuous improvement of the accuracy requirements of the underwater vehicle,the control of the high-precision steering gear is an important technical guarantee for the underwater task.Steering system is a high response speed of the position servo system has high precision,rapid tracking and accurate localization are two important technical index in the system,its working principle is to receive guidance given rudder surface deflection signal,and output the corresponding control command driven steering gear rotation,deflection in the rudder surface,so as to change the navigation of underwater vehicle attitude or trajectory,in order to reach the purpose of control.With the development of modern industrial technology,permanent magnet synchronous motor(PMSM)servo system is applied more and more widely.Sliding mode variable structure(SMC)is widely used in servo control because of its fast response,robustness to external noise and parameter perturbation,simple algorithm and convenient design.This paper starts with permanent magnet synchronous motor,then introduces the principle of vector control,analyzes its characteristics,then expands and introduces the space vector pulse width modulation(SVPWM),and describes in detail the realization of this technology in permanent magnet synchronous motor.The SVPWM PMSM servo control system based on vector control is simulated in Simulink of MATLAB.The traditional PI control is used for speed loop and current loop,and the traditional PI control and sliding mode variable structure control are used for position loop.The control effect of the two control algorithms is analyzed.After that,an experimental platform is designed to carry out the SVPWM PMSM Servo Control Based on vector control.In this paper,the hardware and software design of the experimental platform is introduced in detail,and experiments are carried out on the platform to verify the feasibility of vector control principle and SVPWM technology,and at the same time,the characteristics of traditional PI control and sliding mode variable structure control are tested.