高精度UUV浮力调节装置控制驱动技术研究

Control and drive techniques for the high-precision buoyancy regulation device of UUV

在分析高精度浮力调节装置结构及功能的基础上,提出了该装置的控制驱动器硬件及软件设计方案。该控制驱动器选用TMS320F28335作为主控制芯片,采用容积、速度、电流三闭环控制以实现控制驱动器对浮力调节装置容积的高精度控制;采用模拟加载台对该浮力调节装置中的泵进行加载试验,验证了该控制驱动器的带载性能;采用试验验证了基于多级液压缸的容积控制算法的控制精度,表明该控制驱动器能够满足高精度浮力调节装置的性能要求。

In the analysis of buoyancy regulation device’s framework and function,the controller and driver’s hardware and program design for buoyancy regulation device is put forward.The core control chip of the controller and driver is TMS320LF28335.In order to control the volume of the buoyancy regulation device more accurately,the control structure is consist of position closed-loop,speed closed-loop and current closed-loop.With the method of load the pump of the device by a simulated loading station,we verified the load performance of the controller and driver.Respectively,we validated the control precision of the volume control algorithm on the multi-stage hydraulic cylinder,which indicates the controller and driver in this article satisfied the performance requirements of the buoyancy regulation device.