Design And Research Of Embedded Control And Monitoring System For Launch Wellbore Switch Cover Device

The launch wellbore switch cover device is the part of the wellbore cover of the submarine launched missile,which has an important impact on the successful launch of the submarine launched missile.It is of great significance to study and design a control and monitoring system of the launch wellbore switch cover device to improve the stability and accuracy of its control.With the supporting of the Joint Fund of MOE for Equipment Preresearch(Key Technology about Intellective Control and Fault Diagnosis for Submarine Missiles Vertical Launching Wellbore Cover System)and the project of 713 Research Institute of China Shipbuilding Industry Corporation(Signal Detection Unit of Supporting Cartridge Device),the design and research of the embedded control and monitoring system for launch wellbore switch cover device are carried out in this project.Firstly,the research on the cover control and data monitoring of the launch wellbore switch cover device is carried out.Based on the mechanical structure of the launch wellbore switch cover device,the overall demand of the control and monitoring system of the launch wellbore switch cover device is analyzed,and the overall scheme of the control and monitoring system of the launch wellbore switch cover device is proposed.The corresponding kinematics modeling was carried out to deduce the Angle displacement transformation relation of the casing cover,which provided a mathematical basis for further position control.According to the movement process of the wellbore switch cover,six kinds of trajectory curves of the switch cover were proposed.This paper analyzes the electro-hydraulic servo system of launch wellbore switch cover device,and adopts incremental PID control algorithm to control the hydraulic cylinder of the launch wellbore switch cover device.Secondly,the hardware design of the embedded monitoring system of the launch wellbore switch cover device is carried out.According to the overall scheme of monitoring system of launch wellbore switch cover device,the overall scheme of hardware design is put forward.The embedded master control module based on STM32F407,the analog input module based on AD7190,the analog output module based on DAC5689,and the communication module based on serial port are designed respectively.The input and output of the switching quantity of the external expansion launch wellbore switch cover device are also designed.Then,the software design of the embedded monitoring system of the launch wellbore switch cover device is carried out.According to the overall scheme of monitoring system of launch wellbore switch cover device,the overall scheme of software design is put forward.Aiming at the control of launch wellbore switch cover device,the design scheme of embedded controller software is designed.The real-time operating system μC/OS-III based on multi-task was transplanted on the main control module of STM32F407,and the design flow and implementation process of each task were introduced in detail.The software design of the controller communication module is further introduced,including the collection of feedback data,the receiving of data from the master computer and the uploading of collected data.On this basis,the software design of electro-hydraulic servo control module is carried out.According to the requirements of the monitoring system,the master computer software based on Lab VIEW is designed to cooperate with the embedded controller.The interaction between the upper computer and the embedded controller is realized by the human-machine interface of the master computer,and the real-time adjustment of the control system parameters and real-time feedback of the test data are further realized.Finally,test and verification of monitoring system of launch wellbore switch cover device were carried out.This paper introduces the test system of launch wellbore switch cover device and briefly summarizes the hardware design of monitoring system of launch wellbore switch cover device.Conducted the software test of the embedded controller and the master computer of the shaft switch cover device;The control test of launch wellbore switch cover device with embedded monitoring system is carried out.