AUV电动舵机伺服控制与驱动研究  

Servo Control and Drive of AUV Electromechanical Actuator

作　　者：罗凯[1] 肖锐钢[1] 秦侃[1] 张跟记[2] 

机构地区：[1]西北工业大学航海学院 [2]中国人民解放军92303部队

出　　处：《测控技术》2012年第10期55-58,共4页Measurement & Control Technology

基　　金：陕西省科技计划资助项目(2011SA030001);西北工业大学基础研究基金资助项目(JC20110209)

摘　　要：舵机系统设计是水下自主航行器实现精确制导与控制规律的基础。以高速MCU为平台,通过模拟量高线性光耦隔离、电机H桥功率驱动等关键功能模块的研究,实现了电动舵机伺服控制与驱动系统的一体化设计;基于比例积分的控制算法进行了性能预报仿真。分析表明,所设计的电动舵机伺服控制与驱动系统功能完备,性能满足要求。研究成果为水下自主航行器全电作动技术的发展奠定了基础。Design of actuator system is the foundation for curate guidance and control law. Taking high-speed MCU autonomous underwater vehicle （AUV） to realize ac- as platform, high linear light coupling isolation of an- alog signals, motor H-bridge power driver and other key functional modules have been established. The integrat- ed design of servo control and drive for electromechanical actuator is established. The digital simulation based on PI control algorithm is carried out to verify the proposed system. The analysis results indicate that servo con- trol and drive system designed for electromechanical actuator performances well. The research provides founda- tion for the development of AUV electric actuation technology.

关 键 词：全电作动技术 水下自主航行器 电动舵机 伺服控制与驱动 

分 类 号：TP275[自动化与计算机技术—检测技术与自动化装置]