自主潜航器姿态控制力矩陀螺群的DSP控制系统设计

传统舵面执行机构在自主潜航器低速或零速状态时对其进行姿态控制舵效不足，为改善其操纵性能，引入框架控制力矩陀螺（CMG）作为自主潜航器的姿态控制执行机构，其中驱动系统由4台高速无刷直流电机及4台减速电机组成。考虑到自主潜航器对控制力矩陀螺电机的性能要求，设计了以数字信号处理器（DSP）TMS320F2812为核心的永磁无刷直流电机与蜗轮蜗杆减速电机调速控制系统，包括DSP主控模块、PWM光电隔离模块、驱动模块、JTAG接口模块、RS-232串行通信模块等硬件电路及系统上、下位机的控制软件程序。设计并制作了外围电路板，实现了对无刷直流电机驱动的陀螺转子进行启动停止、转速给定、转速测量等控制任务，以及蜗轮蜗杆减速电机驱动的陀螺框架启停及正反转响应迅速。试验表明，所设计的DSP控制系统能较好地满足自主潜航器姿态控制需求。

Design of the autonomous underwater vehicle control moment gyro system based on DSP

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 reducer 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 included. 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.