Design And Implementation Of Power Control System For Heavy Autonomous Underwater Vehicle

Heavy autonomous underwater vehicles play an important role in marine resources survey and military defense in the sea due to their strong load capacity and sufficient power,and have become a hot areas for research.As the bottom control unit of heavy autonomous underwater vehicle,the power control system is the key to ensure the safe navigation of the vehicle underwater,so it is of great practical significance to develop a real-time and stable power control system for heavy autonomous underwater vehicle.In this paper,the structure,control algorithm,hardware circuit and software program of the power control system are designed and implemented according to the performance index of a heavy autonomous underwater vehicle,and the developed power control system is verified by test to meet the actual application requirements and can guarantee the smooth execution of the vehicle underwater.The main contents of the paper are as follows.(1)The overall scheme design of the power control system.Firstly,the research on the development status of the heavy autonomous underwater vehicle and its power control system at home and abroad,and then the overall scheme of the power control system was designed for the power performance index of H300-AUV.1)Structure:the cross rudder plus thruster is adopted,which has high stability and good maneuverability;2)Electronic control:the control chip,the main thrust motor,the rudder,the power supply and the power supply were carried out for the performance index.In order to ensure the real-time and stability of the system communication,CAN communication is adopted as the main communication method of the system.(2)Rudder control algorithm research.The heavy-duty underwater vehicle rudder has higher requirements for anti-interference performance than other rudders,so this paper improves the traditional PID control algorithm,and proposes a fuzzy PID(AMPSO-Fuzzy-PID)control algorithm based on improved particle swarm algorithm,and establishes a rudder simulation model in the simulation platform for comparison tests.The AMPSO-Fuzzy-PID control algorithm has advantages in time domain performance,frequency domain performance and anti-interference performance compared with other two algorithms.(3)Power control system software and hardware design and implementation.For the power module,the main work is to complete the hardware and software development of the drive processing board,as the "pivot" of the power control system,its main functions include the speed control of the main and vertical thrust,CAN communication,water leakage/temperature/voltage monitoring.For the rudder module,the main work lies in the hardware and software development of the rotor processing board and motor drive board.The rudder system uses a resolver to achieve angular position detection,with emphasis on the processing of the analog signal of the rotor.(4)Power control system testing.In order to verify the reasonableness of the hardware and software design,the power module and the rudder module were first tested separately,and then the power control system was loaded onto the H300-AUV platform for sea trial tests.The experimental results show that the H300-AUV can maintain a smooth driving at 3Knot speed,has good space motion capability,and the turning radius is less than 40m,and the endurance time can reach 8h,which proves that the designed power control system can guarantee the H300-AUV to reach the preset performance index.