中国舰船研究2016，Vol.11Issue(5)：107-112,142,7.DOI:10.3969/j.issn.1673-3185.2016.05.016
自主潜航器姿态控制力矩陀螺群的DSP控制系统设计
Design of the autonomous underwater vehicle control moment gyro system based on DSP
摘要
Abstract
To improve the low velocity control performance of Autonomous Underwater Vehicles(AUVs), a single gimbal Control Moment Gyro(CMG)is introduced as the attitude control system, the drive system of which consists of four brushless DC motors and four reducer motors. Considering the need of AUV for CMG motors, a steady-speed control system is presented in which the brushless DC motors and worm gear reduc⁃er motors are based on TMS320F2812. The DSP controller module, PWM photoelectric buffer module, drive module, JTAG interface module, RS-232 SCI module and software program of the system are includ⁃ed. In building the peripheral circuit, only a single DSP chip is employed to control the starting or stopping and realize the measurement of the working statement of the four brushless DC motors, and the forward or reverse response speed of the worm gear reducer motors can also be accepted. The experiment shows that the designed DSP control system of CMG can satisfy the attitude control requirements of AUVs.关键词
潜航器/控制力矩陀螺/姿态控制/数字信号处理器/无刷直流电机Key words
autonomous underwater vehicle/moment control gyro/attitude control/Digital Signal Proces-sor(DSP)/brushless DC motor分类
交通工程引用本文复制引用
张超华,唐国元,黄道敏,朱秋晨..自主潜航器姿态控制力矩陀螺群的DSP控制系统设计[J].中国舰船研究,2016,11(5):107-112,142,7.基金项目
湖北省自然科学基金资助项目（2013CFB154）；上海交通大学海洋工程国家重点实验室开放基金资助项目 （）
