Design And Research Of Monitoring System For Underwater Launch Wellbore Cover Opening And Closing Device

The motion control of the underwater launch wellbore cover opening and closing device has a decisive influence on the successful launch of submarine missiles.In this thesis,relying on the horizontal project of China University of Mining and Technology and China State Shipbuilding Corporation 713 Research Institute,"Reconstruction of the pressure equalization drainage monitoring system of the cylinder cover test device",a set of monitoring and control system for the cover opening and closing device of the underwater launch silo is designed to realize the whole simulation.Intuitive and digital monitoring of the device,and research on the motion control strategy of the cover opening and closing device of the underwater launch silo.First,the hardware of the monitoring system for the cover opening and closing device of the underwater launch silo is constructed.The composition and working principle of the underwater silo opening and closing cover test device are introduced,and the functional requirements of the monitoring system are put forward according to the test characteristics of the underwater launching silo opening and closing cover,and then the hardware part of the monitoring system is constructed,including the control system and monitoring system.The hardware unit of the system provides the basis for the software design of the monitoring system and the research on the motion strategy control of the cover opening and closing device.Secondly,carry out the software design of the monitoring system for the cover opening and closing device of the underwater launch silo.Based on the upper computer-lower computer mode and the browser and server mode,the software logic architecture diagram of the monitoring system is established,the four-layer structure in the logic architecture diagram is analyzed,the data interaction mode between the layers is designed,and the cover opening and closing is established.The database of the device monitoring system is designed,and the table relationship and table content of the database are designed.According to the functional requirements of the proposed system,the design of each functional module of the monitoring system is completed,including the control module of the cover opening and closing device,the design of the cover opening and closing mechanism action monitoring module,the design of the test system status and test process monitoring module,and the historical test video and data export module.Design,fault alarm module design and user management module design.Among them,based on the concept of visual monitoring,a three-dimensional monitoring model is established for the cover opening and closing mechanism,and a visual design of the test system state and test process monitoring module is carried out.Then,the research on the motion control strategy of the cover opening and closing device of the underwater silo is carried out.The kinematic model of the cover opening and closing mechanism is established,and then a model is established for the valve-controlled cylinder system of the cover opening and closing device according to the relevant theoretical knowledge of the electro-hydraulic servo system.The control strategy of the device is studied,and finally the system model and controller model are established in the simulation software for simulation verification.Finally,the experimental research on the monitoring system of the cover opening and closing device of the underwater launch silo is carried out.Using the designed monitoring system test bench for the cover opening and closing device of the underwater launch silo,the communication function and each functional module of the monitoring system are tested to verify whether the functional modules of the monitoring system can achieve the expected goals.The adaptive backstepping controller is verified by control experiments,and the control effects of the two controllers in the land environment and underwater environment are verified.The monitoring system has been put into use in China State Shipbuilding Corporation713 Research Institute in December 2021.The application results show that the function of the monitoring system for the cover opening and closing device of the underwater launch silo has reached the expected goal.