Research And System Design Of Attitude Control Method Of Underwater Vehicle Based On CMGs

In order to solve the problem that the traditional underwater vehicle with "propeller + rudder" as the actuator has insufficient effect on the attitude Control rudder of the underwater vehicle at low or zero speed,the article introduces the attitude Control actuator of the underwater vehicle which used Control Moment Gyro(CMG).The attitude control system of underwater vehicle based on DSP was designed.The underwater vehicle with CMGs as the attitude control actuator is studied from the aspects of the composition and working principle of the underwater vehicle mechanical system based on CMGs,the establishment of mathematical model,the design of fuzzy PID control algorithm,the design of ADRC attitude control algorithm and the software and hardware design of the control system.The attitude control system of underwater vehicle based on CMGs mainly consists of the shell of underwater vehicle,the built-in control moment gyro group,the driving motor and the main controller.The control system based on TMS320F2812 DSP as the control core,and is controlled by four high-speed brushless dc motors and four worm gear and worm deceleration motors.Established the mathematical model of underwater vehicle CMGs,then designed the PID controller and fuzzy PID controller according to the established mathematical model.Through MATLAB/Simu Link analyzing PID controller and fuzzy PID controller in under the underwater vehicle pitching angle,roll angle and yaw angle,the conclusion is as follows: fuzzy PID controller has fast response and smaller overshoot,using fuzzy PID to control the position of underwater vehicle has better effect.According to the established mathematical model of CMGs based underwater vehicle,the ADRC of CMGs based underwater vehicle based on tracking differentiator(TD),extended state observer(ESO)and nonlinear state error feedback(NLSEF)was designed,and the simulation was carried out by MATLAB/Simu Link.The simulation results show that the ADRC can control the attitude Angle,frame Angle and frame angular velocity well,and can satifsy the requirements of the system for stability and maneuverabilityThe hardware system of CMG-based AUV attitude control system is designed.The DC motor and torque motor are controlled by TMS320F2812 DSP chip.The hardware circuits,such as power module,clock and reset module,serial communication interface module,motor speed measurement module,motor start-stop isolation module and photoelectric isolation module,are designed with modularization idea.According to the hardware circuit set up,the system’s main program design,system clock setting,speed measurement program design,PWM speed control program design and serial communication program design.