模型潜艇自动操控系统设计与实现  

Design and Implementation of Automatic Control System for Submarine Model

作　　者：申传俊 肖翼洋 丁泽民[3] 张士成 

机构地区：[1]海军湛江航保修理厂,湛江524002 [2]海军航空大学青岛校区,青岛264001 [3]海军工程大学动力工程学院,武汉430033 [4]陆军军事交通学院镇江校区,镇江212003

出　　处：《舰船电子工程》2018年第1期86-90,共5页Ship Electronic Engineering

基　　金：国家自然科学基金青年项目(编号:51207164)资助

摘　　要：针对传统模型潜艇控制为有线控制方式,线缆影响模型潜艇水下机动的缺点,设计一种模型潜艇遥控式操控系统。该操控系统由主控制器、遥控器、传感器、放大电路、信号取样电路、舵角反馈机构、电动舵机、电源、高压气源、压载水舱系统、浮力调整及纵倾均衡系统、推进系统、报警系统等共同构成。操控系统由遥控器以无线通信方式发出指令,主控制器收到指令后自动解算,给出操控信号,经放大后控制执行机构,进行相应的注水、排水、转舵、浮力调整、纵倾均衡,主推进进车与倒车,配合操舵,潜艇机动到指定深度和航向,并保持姿态稳定,遥控器接收并显示模型潜艇当前的状态,遇到危险状态时报警器可自动报警。Aiming at solving the problem of traditional wired control system for submarine model which will impact underwater maneuvering,a kind of remote automatic control system for submarine model is designed. The remote automatic control system includes main controller,remote controller,sensors,analog amplifier circuit,signal sampling circuit,rudder angle feedback device,electric steering engine,power supply,high-pressure gas source system,ballast water tank system,buoyancy control system,trim balance system,main propulsion system,side thrust system and alarm system. The remote automatic control system send out control signal by wireless communication instrument,and the signal will be received by the main controller,then the signals will be calculated and the control signal will be sent out. The control signal is amplified by analog amplifier circuit and imported into drive circuit,the output signal will control the actuator so that drainage water and water injection are accomplished,the steer wheel will be rotated,the buoyancy and trim will be adjusted respectively. At the same time,the speed of the main propulsion system go forward and going astern will be controlled to cooperate with the steering,then the submarine model will ascent or dive to the setting depth and course,and the attitude of submarine model will be maintained. The remote automatic controller can receive and display the present parameters of the submarine model,and any dangerous condition will be alarmed by the warning circuit.

关 键 词：模型潜艇 自动操控系统 主控制器 遥控器 无线通信 

分 类 号：U665.13[交通运输工程—船舶及航道工程]