基于TwinCAT及VC++的水下发射系统研究

Research on Underwater Emission System Based on TwinCAT and VC

针对水下15 m的发射系统,从系统硬件设计和系统软件设计两部分对其进行运动控制。其中,硬件主要基于TwinCAT进行下位机控制设计,用于实时控制电机并将电机的运动状态实时传输给上位机管理软件;而软件则是基于VC++进行上位机管理系统设计,其作用是将控制信号准确地传输给下位机并实时接收下位机反馈的点击运动信息。着重分析了VC++与TwinCAT之间的通信,使其能够根据用户需求进行相应的轨迹运动。通过搭建实验平台,对水下发射装置进行不同轨迹运动试验。实验结果表明,基于TwinCAT和VC++设计的水下控制系统能够精确地控制发射,满足用户不同的运动需求。

The underwater 15 m launch system is divided into two parts,namely system hardware design and system software design.Among them,the hardware is mainly based on TwinCAT for the lower machine control design,which is intended to control the motor in real time and transmit the motion state of the motor to the upper computer management software in real time.The software is based on VC++ for the upper computer management design,intended to transmit the control signal to the lower machine accurately and receive the click motion information feedback from the lower machine in real time.The communication between VC++ and TwinCAT is analyzed,so it can perform corresponding trajectory movements according to the user's needs.By setting up an experimental platform,different trajectory motion experiments were performed on the underwater launching devices.The experimental results show that the underwater control system based on TwinCAT and VC++ can accurately control the launch and meet various movement requirements of users.