Method and device for measuring propeller rotating speed of underwater direct current brushless thruster
A DC brushless and thruster technology, applied in measuring devices, linear/angular velocity measurement, velocity/acceleration/shock measurement, etc., can solve problems such as failure to achieve electrical isolation, mutual interference, poor system reliability, etc., and achieve strong anti-interference ability, ensuring work reliability, and the effect of small error in speed measurement
Active Publication Date: 2012-10-17
NORTHWESTERN POLYTECHNICAL UNIV
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The advantage of this method is that the speed measurement and anti-interference ability is strong, but the disadvantage is that there is no complete electrical isolation between the speed measurement device and the measured object, resulting in mutual interference between the speed measurement device and the measured object, resulting in poor reliability of the system
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[0033] Describe the present invention below in conjunction with specific embodiment:
[0034] The underwater DC brushless thruster used in this embodiment is a DC brushless thruster developed and produced by the American TECNADYNE company. The thruster integrates a DC brushless motor, a DC brushless motor controller and a propeller, and has a small size. , light weight, easy to use and other advantages, the maximum pressure depth can reach 1500m. The brushless DC motor controller adopts +12VDC power supply, the command for speed control is -5VDC~+5VDC, and the output is 0~12VDC speed digital pulse signal, which is used for propeller speed measurement. However, since the DC brushless motor and the DC brushless motor controller are sealed in a small space, the output speed digital pulse signal is subject to electromagnetic interference from the DC brushless motor, and there is a large interference. figure 1 The original rotational speed digital pulse signal output by MODEL521 b...
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The invention provides a method and a device for measuring the propeller rotating speed of an underwater direct current brushless thruster. The device comprises an analog signal isolating unit, a digital signal photoelectric isolating unit, a frequency / voltage (F / V) conversion unit, a digital to analog conversion unit and a computer acquisition and computation unit, wherein a rotating speed digital pulse signal which is output by the direct current brushless thruster is subjected to analog signal isolation and photoelectric isolation and then converted into a rotating speed digital pulse signal of 0 to 5 V; the rotating speed digital pulse signal of 0 to 5 V is subjected to F / V conversion, and an analog voltage signal is output; the analog voltage signal is converted into digital quantity and further converted into a voltage value; the voltage value is subjected to V / F conversion, and the frequency of the rotating speed digital pulse signal is obtained; and the propeller rotating speed of the direct current brushless thruster is obtained by frequency / rotating speed conversion. The invention has the advantages of high anti-interference capacity and small in speed-measuring errors, analog signal and digital signal photoelectric isolation between a rotating speed measuring device and the direct current brushless thruster is realized, and the operation reliability of the direct current brushless thruster and the operation reliability of the measuring device are ensured.
Description
technical field [0001] The invention relates to the field of underwater DC brushless thrusters, in particular to a method and device for measuring the rotational speed of an underwater DC brushless thruster propeller. Background technique [0002] Brushless DC thrusters are the most commonly used propulsion devices for autonomous underwater vehicles (AUVs) and unmanned surface vehicles (USVs). The heading and sailing speed of AUVs and USVs are controlled by adjusting the propeller speed of brushless DC thrusters. Therefore, the control systems of AUV and USV need to measure the rotational speed of the propeller for feedback control. [0003] At present, there are two commonly used speed measurement methods based on digital pulse signals as follows: [0004] (1) Frequency counting method. In this method, the digital pulse signal is photoelectrically isolated, converted into a TTL level digital pulse signal, and then counted by a computer counter. The computer can calculate...
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IPC IPC(8): G01P3/481
Inventor 严卫生高剑张福斌崔荣鑫陈伟王银涛张立川彭星光
Owner NORTHWESTERN POLYTECHNICAL UNIV
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