Research On Sensor Fault Tolerance Control Method Of Vertical Launching Well Opening Light Cover Device

The vertical launching shaft is an important device for submarine missile launching.The photoelectric encoder embedded in the launching shaft equipment feeds back to the control unit of the barrel cover system to realize the movement control of the opening and closing cover.The sensor failure of the vertical launching shaft will cause immeasurable disasters to the missile launching of the submarine,and it is of great significance to ensure the safe operation of the barrel cover system.Therefore,the research on fault-tolerant control of the sensor fault condition of the cylinder cover system has important application value to realize the fault healing of the cylinder cover system,reduce its sensitivity to the system fault,and ensure the reliability of the cover opening and closing operation control of the cylinder cover system.Based on the support of "key technologies of intelligent control and fault diagnosis of underwater missile vertical launcher cover system" supported by the joint fund of the Ministry of education of equipment pre research,this paper studies the sensor fault-tolerant control method of underwater vertical launching shaft cover switch device according to the fault condition of the cover system.Firstly,the equipment of the vertical launching shaft switch cover device is summarized,and the nonlinear mathematical model of the vertical launching shaft is established.At the same time,considering the bad working environment of the vertical launching shaft,in order to overcome the strong time-varying interference,ensure the tracking accuracy of the motion control,and meet the performance index of the opening and closing device of the cylinder cover system,the robust controller of the shaft cover system is designed.Based on the numerical simulation model of the cylinder cover system,the performance index of the control system under fault free condition is analyzed,and the frequent faults of the sensor are injected to analyze the serious damage caused by the sensor fault to the switch cover operation of the cylinder cover system.Then,in order to realize the safe operation and reliability control of the vertical launching shaft cover opening and closing device,and ensure that the cylinder cover system can successfully complete the switch cover operation of missile launching under sensor fault condition,the fault estimation and fault tolerance theory based on state observer are carried out.The photoelectric encoder,oil pressure sensor and force sensor are used to estimate the fault of the cylinder cover system.Based on the fault estimation value of the sensor,the fault-tolerant controller of the sensor of the underwater vertical launching shaft is designed by using the signal reconstruction method,so as to realize the fault-tolerant control of the sensor fault condition of the cylinder cover system.The feasibility of fault estimation and fault-tolerant algorithm for the liner system is verified.The operation data of the system are analyzed,and the important application value of fault-tolerant control theory to vertical launching shaft is clarified.Finally,in order to realize the full state monitoring of the vertical launching shaft cover opening and closing device,a real-time monitoring platform of the shaft cover system is developed,which realizes the real-time monitoring of all kinds of digital and analog signals of the vertical launching shaft.The working principle and functional modules of the real-time control system of the lower computer and the man-machine interaction system of the upper computer which constitute the real-time monitoring platform are introduced in detail.The control theory proposed in this paper is verified by field experiments.