In the design phase of the experiment SUBMOTION II were fixed test conditions. In particular the handling rudders must take into account two different types of application: 1)static conditions. During the experiment the acquisition of data takes place with the fixed positioning of the rudders; 2)dynamic conditions. During the data acquisition phase the rotation of the rudders must follow a fixed sinusoidal temporal law wich frequency and ampitude can be chosen by the final user. In order to meet the specific requirements the choice is on using four motors SMART MOTOR type with maximum torque of 0.52 Nm at continuous use (peak 0.84 Nm) and a maximum speed of 5200 RPM with brake and drive (with PID control) integrated. Another feature of this type of motors is programmability in-line and off-line by RS232, RS485 and CAN communication. The evolution real approximates the theoretical evolution up to a condition in which it is not detectable the difference of the two cases at instrumental level. For the experiment concerned is chosen the control rudders in constant time interval. It follows then an angular variation of the steering discrete time steps ti. In substance by the program prepared and inserted into each drive each motor follows the trajectory calculated at time ti with the theoretical imposing to the motor reaching the new position updated in real time (at time ti +dt).
SUBMOTION II RUDDERS HANDLING: TECHNICAL SPECIFICATIONS - USER INTERFACE AND MOTOR CONTROL
SELLINI MASSIMILIANO
2013
Abstract
In the design phase of the experiment SUBMOTION II were fixed test conditions. In particular the handling rudders must take into account two different types of application: 1)static conditions. During the experiment the acquisition of data takes place with the fixed positioning of the rudders; 2)dynamic conditions. During the data acquisition phase the rotation of the rudders must follow a fixed sinusoidal temporal law wich frequency and ampitude can be chosen by the final user. In order to meet the specific requirements the choice is on using four motors SMART MOTOR type with maximum torque of 0.52 Nm at continuous use (peak 0.84 Nm) and a maximum speed of 5200 RPM with brake and drive (with PID control) integrated. Another feature of this type of motors is programmability in-line and off-line by RS232, RS485 and CAN communication. The evolution real approximates the theoretical evolution up to a condition in which it is not detectable the difference of the two cases at instrumental level. For the experiment concerned is chosen the control rudders in constant time interval. It follows then an angular variation of the steering discrete time steps ti. In substance by the program prepared and inserted into each drive each motor follows the trajectory calculated at time ti with the theoretical imposing to the motor reaching the new position updated in real time (at time ti +dt).I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
