Method for controlling horizontal direct current steering engine of underwater aircraft capable of avoiding risk in emergency and device therefor
An underwater vehicle, horizontal technology, applied in the direction of steering with rudder, can solve the problems of large steering current, generating electric sparks, affecting relay life and working reliability, etc., to improve working reliability and improve electromagnetic compatibility , to avoid the effect of high current switching
Active Publication Date: 2014-03-12
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology
[0006] However, switching control with relays has the following disadvantages: ① The reliability of relay action is related to many factors. Once the relay malfunctions, it will bring great hidden dangers to the navigation safety of autonomous underwater vehicles; Large, when the relay switches a large current, sparks are usually generated, which not only affects the life and reliability of the relay, but also seriously affects the electromagnetic compatibility of the aircraft
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Embodiment
[0027] This embodiment is to control the horizontal DC steering gear of the underwater autonomous vehicle to prevent the phenomenon of ultra-deep navigation of the underwater autonomous vehicle.
[0028] Refer to attached figure 2 , as can be seen from the figure, the control device includes the horizontal DC steering gear DSP controller, 555 clock chip, pressure switch, self-locking circuit, photoelectric isolation and drive amplifier circuit in the underwater vehicle control system.
[0029] Refer to attached image 3 , the DSP controller of the horizontal DC steering gear outputs the PWM control signal of the steering command of the horizontal steering gear of 0~3.3V, and introduces the anode of the input terminal of the photoelectric isolation device N17 through the resistor R39, the cathode of the N17 input terminal is grounded, and the collector of the N17 output terminal uses +5V Power supply, the emitter of the N17 output terminal is grounded through the resistor R38...
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The invention provides a method for controlling a horizontal direct current steering engine of an underwater aircraft capable of avoiding risk in emergency and a device for controlling the horizontal direct current steering engine of the underwater aircraft capable of avoiding risk in emergency. The method comprises the following steps of: carrying out optoelectronic isolation on a horizontal steering command of the underwater aircraft to generate a PWM (pulse width modulation) control signal DSP-PWM1 (digital signal processor-pulse width modulation 1); outputting a PWM control signal NE555-PWM by a clock chip, and outputting a logic control signal JJTCZS by a pressure switch; carrying out AND operation on a DSP-PWM1 signal and a JJTCZS signal to obtain an AND gate 1 signal; carrying out NOT operation on the JJTCZS signal, and carrying out AND operation on an NE555PWM signal to obtain an AND gate 2 signal; and carrying out OR operation on the AND gate 1 signal and the AND gate 2 signal, so that a PWM control signal of the horizontal direct current steering engine can be obtained. According to the method, the logic switch control can be carried out by software, so that the problem of large current switch on a conventional relay switch control method can be avoided, therefore, not only can the work reliability of a system be improved, but also the electromagnetic compatibility of the system can be improved.
Description
technical field [0001] The invention relates to the field of autonomous control of underwater vehicles, in particular to a method and device for controlling a horizontal DC steering gear of an underwater vehicle capable of emergency avoidance. Background technique [0002] As an autonomous underwater vehicle, with its advantages of large diving depth, multi-purpose and intelligence, it can be used in submarine topography and landform detection, marine engineering construction, marine resource development, marine scientific exploration and safeguarding national marine rights and interests. play a very important role in many aspects. [0003] An autonomous underwater vehicle usually includes a horizontal DC steering gear and a vertical DC steering gear, wherein the horizontal DC steering gear is used to control the longitudinal movement of the autonomous underwater vehicle, and controls the navigation depth, pitch angle and pitch angular velocity of the vehicle; the vertical D...
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IPC IPC(8): B63H25/14
Inventor 严卫生张克涵张福斌高剑崔荣鑫张立川王银涛彭星光梁庆卫
Owner NORTHWESTERN POLYTECHNICAL UNIV