AUV电动舵机伺服控制与驱动研究

摘要

Design of actuator system is the foundation for autonomous underwater vehicle (AUV) to realize accurate guidance and control law. Taking high-speed MCU as platform, high linear light coupling isolation of analog signals, motor H-bridge power driver and other key functional modules have been established. The integrated 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 control and drive system designed for electromechanical actuator performances well. The research provides foundation for the development of AUV electric actuation technology%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.