The Design Of Control System For AUV With Rotary Servo Actuator

Underwater operation has the characteristics of danger,uncertainty and limited space.Because of its small size,long endurance,flexible maneuverability and strong carrying capacity,UUV is playing an increasingly significant role in scientific research,civil economy and military operations.Rotary actuator is the driving mechanism of UUV to realize antenna lifting and rudder plate swinging.Because UUV system is a complex autonomous control system which is difficult for people to be in the loop,it is of great significance to improve the safety and reliability of the rotary actuator by using effective control means to realize the upper level instructions.This project is based on the UUV project of BSA Institute of marine equipment and control technology,Harbin Engineering University.In the scheme design part of this paper,the overall scheme design of rotary actuator,the design of deceleration mechanism,the design of software and hardware are introduced.The control system adopts the double closed-loop PID control algorithm of "position loop" and "speed loop".The closed-loop vector control drives the motor to run smoothly according to the given rotation direction and speed,then realizes the antenna lifting and lowering.For the working condition of products working in deep sea environment for a long time,targeted reliability design and calculation are carried out.Finally,through experiments and simulations.It is concluded that the output of "double chop" PWM modulation is more stable for the control working condition with relatively saturated hardware performance(such as the controlled descending process of heavy load,etc.),which can effectively avoid the self-excitation phenomenon of the control system,and the conclusion that "double chop" modulation mode can be preferentially selected has certain reference and popularization value the motor control method large lifting.