Propulsion and manipulation integrated control device of portable autonomous underwater vehicle

Abstract

The invention provides a propulsion and manipulation integrated control device of a portable autonomous underwater vehicle. DSP is adopted to be a control core, rudder-playing instructions of a control management center to a left horizontal rudder, a right horizontal rudder, an upper vertical rudder and a lower vertical rudder are received through a CAN bus, and the corresponding four ways PWM waves (Pulse Width Modulation) are generated, and a steering engine is controlled to operate; a rotating speed instruction of a motor can further be received, and meanwhile a double-closed-loop PID adjusting technology is adopted to control the rotating speed of the motor; and in addition, when an emergency cut-off signal is received, playing of a limit top rudder is conducted on the left and the right horizontal rudders immediately. In addition, a wireless communication interface is added to the device, and an ultra-deep detection and alarm threshold value, a limit rudder-angle angle threshold value, a motor temperature alarm threshold value, a PID adjusting parameter, a CAN bus communication parameter and the like can be set by using hand-type wireless equipment or a computer; and all diagnostic data can be transmitted to the hand-type wireless equipment or the computer, the aircraft malfunction is convenient to diagnose rapidly, and the using portability and the functionality are greatly improved.

Description

technical field [0001] The invention relates to the technical field of control of underwater vehicles, in particular to an integrated control device for propulsion and manipulation of a portable autonomous underwater vehicle. Background technique [0002] During the navigation of the underwater autonomous vehicle, its navigation attitude and navigation speed are controlled by the steering gear and the propulsion motor respectively: the rudder plate (generally composed of upper rudder, lower rudder, left rudder, and right rudder) is controlled by the steering gear to generate a certain angle. , to adjust the heading and attitude of the aircraft; its sailing speed is adjusted by controlling the speed of the propulsion motor. [0003] At present, similar products basically use the main control unit that integrates all propulsion and manipulation control authority inside the aircraft. The propulsion motor and the four steering gears are respectively controlled by the main contr...

AI Technical Summary

Problems solved by technology

Among them, the control of four steering gears and one propulsion motor involves a relatively complex control algorithm. If this part of the algorithm is concentrated in the main control unit, its calculation load will be greatly increased.

In addition, in terms of hardware circuits, it will also lead to the need to expand the peripheral interface circuit of the main control unit, making the final circuit board larger

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