The Design Of Control System For Line-throwing Appliance

This thesis focuses on the control system for the line-throwing appliance,which is widely used in towing rescue,including the control of the stabilized platform and the high pressure pneumatic throwing device.The stabilized platform is driven by the servo motor,which can keep the stable object relative to a certain inertia space or a certain attitude when the carrier posture changes drastically.The high-pressure pneumatic throwing device can use the high-pressure gas to carry out the long-distance automatic projectile.In order to ensure the stability of the stabilized platform under the premise of the vigorous shaking of the hull and the success rate of the leading winds at sea,it is proposed that the lateral deviation of the missile caused by the wind force can be compensated by adjusting the emission angle.This can ensure the rope be thrown accurately.Based on the analysis of the main structure of the existing three-DOF stabilized platform,this paper puts forward the design idea of the control system which meets the requirements of the project,and also designs and builds the hardware circuit.In the direction of pitching and rolling,the servo motor on the frame is driven by the PID algorithm in the controller.In the direction of the heading,the AC motor on the base is driven by the operator,who observes the image acquired by the camera,so that the ropes are aimed at the target vessel.After simplifying the force of the projectile in flight,the outer trajectory of the missile is modeled and simulated in MATLAB,and the lateral displacement caused by the environmental factors is obtained.Finally,for the various environmental conditions to solve the horizontal offset on the platform to be rotated to determine the optimal offset angle.Finally the performance of the throwing rope rescue equipment was test.The stability platform can be kept within the range of 1 ° when the carrier disturbance reaches 12°,and the error between actual value and the theoretical value of the lateral deviation of the projectile is within 10%.