Research On Underwater Two-degree-of-freedom Launcher And Measurement And Control System

The motion control of underwater launcher is one of the main research directions in marine engineering experiments.Because of the particularity of the underwater environment,underwater equipment needs to consider special reliability and safety issues.At the same time,the launcher is affecteed by the inertia of the load and the resistance of water in the course of movement.In order to solve these promblms,this paper has realized the reconstruction of the underwater launcher of two degrees of freedom based on the TwinCAT platform,ontrolling the launcher executing sinusoidal motion and isokinetic motion.The concrete work is as follows:(1)According to the function and main technical index of underwater launching platform,the overall structure of the underwater launcher has been designed.The problems has been solved such as the rotation concentricity of the bearing,the water tightness of the transmission system and the holding of the launching tube from the processing technology and mechancal structure.(2)By means of the motion characteristics of the underwater launcher,the rating torque and the rating speed have been determined.The contact strength of the tooth surface,the bending strength of the tooth root and the structural strength of the transmission system have been checked.It is proved that the load of the underwater launcher can meet the technical index.(3)The problem of vibration of underwater launcher has been solved by the three loop PID control algorithm.The experimental results show that the algorithm has a good effect.(4)The overall design scheme of underwater launching control system has been designed taking the measurement and control products of the German company as the core,realizing the control of motor and the data acqusition of each motion state in the experiment.(5)The overall design scheme of underwater launching control system has been designed taking the measurement and control products of the German company as the core,realizing the control of motor and the data acqusition of each motion state in the experiment.(6)On the platform of underwater launching system,the experiments have been carried out,such as the water tightness of the transmission system,the point movement linkage of the launcher,the limit function and ignition function...