Microprocessor Control of the Sonar Electric Drive

the paper presents the design system of the microprocessor electric drive with a switched reluctance motor for the unmanned underwater vehicle (UUV) sonar. To increase the performance of the gearless sonar drive for UUV, the electric drive circuit was proposed, which included the DMB 120 switched reluctance motor, a microprocessor control unit, a transistor converter, position sensor drivers VT 60 and 2BVT2.5. To improve and stabilize the dynamic characteristics of the electric drive system, it is proposed to introduce in the speed control circuit additional two derivatives of the input control signals, controllable by a function of the relative speed error and its derivative, and to introduce a self-tuning control circuit with a reference model and signal self-tuning. To improve and stabilize the dynamic characteristics of the electric drive system, it was proposed to introduce in the position control circuit the first and second derivatives of the input position signal, which are controlled as a function of the relative position error. Both derivatives are introduced when the actual trajectory lags behind the position-specified one. A model sample of the gearless electric drive of the UUV sonar was manufactured and tested, which confirmed the theoretical calculations.