水下航行器深度模拟系统研究及实现

【作者】 庞利平；

【导师】 罗凯；

【作者基本信息】 西北工业大学 ， 热能工程， 2007， 硕士

【摘要】 随着水下航行器技术的不断发展，包括深度模拟在内的系统仿真研究变得日益重要。目前，国内外已有的深度模拟系统普遍存在大范围仿真时浅水仿真精度较低的问题。通过研究国内外水下航行器深度模拟系统的发展状况，本文提出了实现深度模拟系统的新方案并予以了成功实施。 文中全面论证了伺服阀式和电机驱动式两种深度模拟系统的设计方案。通过对两种方案的仿真分析，考虑到系统的控制性能、使用维护方便性、生产和维护成本等因素，选择了电机驱动式深度模拟系统设计方案。分析了该系统的工作原理，完成了液压系统设计及其主要元器件的分析选型；完成了电气系统设计及其主要元器件的分析选型；通过建立系统数学模型对系统进行了仿真分析研究。在该系统中，采用了量程不同的两个高精度压力反馈传感器，用来提高全范围的仿真精度。成功研制了基于三菱FX系列PLC+A／D模块的数字控制器、步进电机+滚珠丝杠+液压缸的执行机构，构建了完整的水下航行器深度模拟系统。并利用LabVIEW图形化编程语言设计了测试系统，实现了PLC与上位机的串行通讯。 利用上述方案和技术研究的水下航行器深度模拟系统已经研制成功。试验结果表明，在模拟量给定或串行通信给定的状态下，电机驱动式深度模拟系统的压力伺服控制稳态精度较高、动态响应性能良好，全面优于设备技术指标的要求。更多还原

【Abstract】 With the constant development of Underwater Vehicle (UV) technology, system simulation, including depth simulation, is becoming increasingly important. Currently, the depth simulation system, at home and abroad, has ubiquitous problems. Its shallow-water simulation accuracy is comparatively low on large range simulation. By studying the UV depth simulation system at home and abroad, a new program to achieve depth simulation system is presented in this paper and put it into practice successfully.The design programs of the servo-valve and motor-driven depth simulation system are comprehensively expounded in this paper. By analyzing the simulation of the two schemes, considering the control capability, ease of use and maintenance, production and maintenance costs and other factors, the programs of motor-driven depth simulation system was determined finally. Analyzing the working principle of this system, the hydraulic system design, choice of major hydraulic components and relatively work are completed; the electrical system design, choice of major electrical components and relatively work are also completed; by establishing the mathematical model, the system simulation analysis was done. In this system, two high precision pressure sensors, with different measurement range, are adopted to improve the simulation accuracy at the full range. The digital controller is also designed successfully, which are made up of a Mitsubishi PLC and an A/D module. The actuating mechanism is made up of a stepping motor, a ball screw and a hydraulic cylinder. Thus, the UV depth simulation system is completed successfully. LabVIEW, a graphical programming language, is used to design the test systems, and realize serial communication between the PLC and IPC.The UV depth simulation system, based on the scheme and technology mentioned above, has been trial-produced successfully. The experiment results show that either with analogy input or with serial commutation, the motor-driven depth simulation system has relatively high steady-state accuracy and good dynamic response under pressure servo controlling. These are fully superior of the technical standards of this equipment’s requirement.更多还原