An arm-based multi-motor real-time tether catapult control system and a control method thereof

Abstract

The application provides an ARM-based multi-motor real-time tether ejection control system and a control method thereof, which comprises an ARM processor module, a real-time operating system module, a motor control module, a data acquisition sensor module, an upper computer module and an isolation module; the real-time operating system module comprises a time management module, a task switching module and a task scheduling module; the upper computer module comprises an instruction processing and issuing module and a sensor data receiving and visualizing module; the isolation module comprises a power supply isolation module, a ground isolation module and an optical coupling isolation module; the motor control module is connected with the ARM processor module, the data acquisition sensor module and the isolation module to control the motor to work; the tether is stored in a binding wire cylinder driven by a servo motor; the control system controls multiple motors to ensure the control accuracy of the movement posture of an ejection main body and the effectiveness of a tether ejection and recovery function; and the application can effectively realize the high control performance requirement of the tether ejection system.

Description

TECHNICAL FIELD

[0001] The application relates to the field of ARM embedded system control technology, and in particular to an ARM-based multi-motor real-time tether ejection control system and a control method thereof. BACKGROUND

[0002] In the process of adjusting the attitude of an aircraft in the field of aerospace, the energy accumulated by a tether ejection system can be used to rapidly eject the tether to generate a counterforce acting on the main body of the ejection device to change the motion attitude of the main body, and the motion attitude of the main body can be controlled to reach a target state through the continuous ejection and recovery of the tether. The main difficulty in the process of tether ejection and recovery is that the control performance of the tether ejection control system cannot meet the control requirements, the counterforce generated when the tether is ejected cannot reach or exceed the thrust required for adjusting the motion attitude of the main body, which leads to frequent adjustment of the motion attitude of the main body near the target state, and the recovery speed of the tether is unstable, which generates a thrust to change the motion attitude of the main body. Therefore, in order to ensure that the tether ejection system can effectively and accurately control the motion attitude of the main body, the control performance of the tether ejection system needs to be greatly improved. SUMMARY

[0003] The application provides an ARM-based multi-motor real-time tether ejection control system and a control method thereof, which can effectively meet the high control performance requirements of the tether ejection system.

[0004] The application adopts the following technical scheme.

[0005] The application provides an ARM-based multi-motor real-time tether ejection control system, which comprises an ARM processor module, a real-time operating system module, a motor control module, a data acquisition sensor module, an upper computer module and an isolation module which are connected with each other.

[0006] The real-time operating system module comprises a time management module, a task switching module and a task scheduling module.

[0007] The motor control module comprises a miniature electromagnetic clutch, a direct current motor forward and reverse controller, a push rod motor sub-module, a direct current motor PWM speed regulator, a direct current motor, a stepping motor driver, a stepping motor, a Modbus communication interface and a servo motor.

[0008] The upper computer module comprises an instruction processing and issuing module and a sensor data receiving and visualizing module, and the isolation module comprises a power supply isolation module, a ground isolation module and an optical coupling isolation module.

[0009] The motor control module is connected with the ARM processor module, the data acquisition sensor module and the isolation module to control the operation of the motor.

[0010] One end of the tether is a weight end, and the other end is accommodated in a binding wire cylinder driven by a servo motor; the control system controls multiple motors to ensure the control accuracy of the motion posture of the ejection body and the effectiveness of the tether ejection and recovery function.

[0011] The real-time operating system module is an embedded real-time operating system module.

[0012] The ARM processor module is used to run an embedded real-time operating system, which uses a fuzzy PID algorithm to control and adjust the working state of each motor for tether ejection and recovery in real time according to the data collected by the motor state detection sensor and the accelerometer at the end of the tether.

[0013] The weight end of the tether is connected to a weight.

[0014] A multi-motor real-time tether ejection control method based on ARM, which uses the above-mentioned multi-motor real-time tether ejection control system based on ARM, is characterized in that: in the control method, the motor control module and the embedded real-time operating system module work cooperatively to ensure the control accuracy of the motion posture of the ejection body and the effectiveness of the tether ejection and recovery function.

[0015] In the control method, the motor control module includes the following steps when working:

[0016] Step A1: The micro electromagnetic clutch, push rod motor, stepper motor, DC motor and servo motor enter the working state according to the control flow;

[0017] Step A2: The motor state detection sensor module collects motor state data;

[0018] Step A3: According to the obtained motor state data, the difference e and the difference change de / dt between the target value are calculated, the e and de / dt corresponding to each motor are mapped to the respective fuzzy domain to obtain the position of e and de / dt in the domain interval, then the domain point membership of e and de / dt is calculated using the trapezoidal membership function of formula 1, and then the membership degrees of the three parameters are obtained by querying the proportional, integral and differential membership reasoning table according to the calculated membership degrees;

[0019] Step A4: According to the obtained P, I, D membership degrees, the specific P, I, D parameter value increments are calculated, and then the motor state adjustment parameters are obtained to adjust the motor state;

[0020] Step A5: Repeat steps A2-A4 until the working flow ends;

[0021]

[0022] In the formula: A, B, C are three adjacent domain points.

[0023] The control method, the embedded real-time operating system module working time contains the following steps:

[0024] Step B1: the real-time operating system performs task scheduler, interrupt controller, clock and other system resource initialization;

[0025] Step B2: the real-time operating system creates tasks according to the provided task function and task priority, and allocates stack space, the main tasks including: host computer instruction receiving processing task, DC motor PWM speed regulation task, stepper motor speed regulation task, stepper motor pulse counting and commutation task, Modbus read-write task, encoder data acquisition task, Hall sensor data acquisition task, current sensor data acquisition task, tether end acceleration data acquisition task, motor state data processing and uploading task;

[0026] Step B3: the real-time operating system enters the multi-task management stage, finds and executes the task with the highest priority in the task stack; a preemptive task scheduling algorithm is adopted to ensure that high-priority tasks are executed first; when a high-priority task enters a blocked state, the task scheduler calls to execute other priority tasks; during task execution, if a higher priority task needs to be executed, the task scheduler interrupts and suspends the current task, and executes the higher priority task instead. By reasonably arranging the blocked state time of high-priority tasks and the number of tasks of the same priority, the real-time performance of the real-time operating system is ensured.

[0027] The data acquisition sensor module real-time acquires the working state data of each motor, and transmits the data to the ARM processor module through the isolation module, and at the same time, the tether end accelerometer real-time acquires the three-axis acceleration data of the tether end, and transmits the data to the ARM processor module through the Bluetooth communication interface, so that the ARM processor module can timely adjust the working state of each motor and improve the control performance of the system.

[0028] The interactive interface of the host computer module includes a user operation interface and a sensor data visualization interface; the host computer module is connected with the ARM processor to process user instructions, issue control instructions, receive and visualize motor-related state data and tether end three-axis acceleration data.

[0029] The user operation interface includes a launch preparation button, a launch button, a recovery button and a data input box, and the above buttons are in a non-clickable state by default and can be clicked only in the case of meeting the conditions.

[0030] The sensor data visualization interface is used to display the working status of each motor and the attitude of the end of the tether in real time during the tether launch and retrieval process, so that users can monitor the tether launch and retrieval process in real time.

[0031] The launching and retrieval of the tethered rope includes the following steps;

[0032] Step D1: The ARM embedded real-time operating system rotates and schedules each task;

[0033] Step D2: The user inputs the launch data and clicks the launch preparation button on the host computer module's interactive interface. The host computer module determines the position where the servo motor begins to decelerate during the launch phase based on the input launch data, i.e., it determines the coefficient λ in Formula 2 and Formula 3 below. Then, it calculates the speed change points corresponding to each time interval during the deceleration of the servo motor during the launch phase according to Formula 2. After that, it calculates the required tether release length L when the launch body reaches the corresponding position according to Formula 3. Finally, it sends the tether release length L along with the launch preparation command to the ARM processor module. The miniature electromagnetic clutch and each motor begin the launch preparation work according to the workflow. After the preparation work is completed, the launch button on the host computer module's interactive interface becomes clickable.

[0034]

[0035] In the formula: l i Let be the length of the tether released from the i-th segment, Δt be the interval time, and a be the length of the tether released from the i-th segment. i Let n be the acceleration of the tethered rope in the i-th segment. i denoted as the rotational speed reached by the servo motor at the end of segment i, D as the diameter of the winding reel, v0 as the initial velocity of the tether ejection, m1 and m2 as the masses of the launch body and the weight at the end of the tether, respectively, and L1 as the target position of the launch body.

[0036]

[0037] Step D3: The user clicks the eject button, and the servo motor releases the line at a speed higher than the tether ejection speed, causing the tether to eject. The ARM processor module uses a fuzzy PID algorithm to calculate the motor's state adjustment parameters in real time based on data collected by the motor state detection sensor, adjusting the motor to the target state. When the length of the tether released by the reel reaches... At that time, the servo motor starts to decelerate according to the discrete points derived from Formula 3, and uses the interaction force between the tether and the launch body to drive the launch body to decelerate so that the launch body stops when it reaches the target position; after the reel releases the tether, the retraction button on the host computer interface becomes clickable.

[0038] Step D4: The user clicks the reel-in button, the servo motor starts working, and after the end of the tether begins to move, it maintains the current speed for reeling in. The ARM processor module uses a fuzzy PID algorithm to calculate the motor's state adjustment parameters in real time based on the data collected by the motor state detection sensor, adjusting the motor to the target state to ensure the tether is reeled in at a constant speed. During the reel-in process, the resistance of the reel pulling the weight on the tether's end keeps the tether taut. After the reel-in process is completed, return to step D2.

[0039] The isolation module isolates the power supply of the ARM processor module, data acquisition sensor module, and motor control module. Together with the ground isolation submodule and optocoupler isolation submodule, it suppresses interference and noise in the control system during operation, so as to provide clearer and more stable power and voltage signals, thereby improving the stability of the system.

[0040] To reliably ensure the functionality of a tethered launch system, this invention proposes a multi-motor real-time tethered launch control system and its control method based on an ARM architecture, aiming to effectively meet the high control performance requirements of the tethered launch system. This invention includes modules such as an ARM processor module, an embedded real-time operating system module, a motor control module, a data acquisition and sensor module, a host computer module, and an isolation module. The real-time operating system module comprises time management, task switching, and task scheduling. The motor control module includes a miniature electromagnetic clutch, a DC motor forward / reverse controller and a pushrod motor submodule, a DC motor PWM speed controller and a DC motor, a stepper motor driver and a stepper motor, a Modbus communication interface and a servo motor. The data acquisition and sensor module includes a motor status detection sensor and a tether end accelerometer. The host computer module includes command processing and issuance, and sensor data reception and visualization. The isolation module includes power isolation, ground isolation, and optocoupler isolation. This invention can effectively control multiple motors in conjunction, ensuring the effectiveness of the tethered launch and retrieval function, and realizing a multi-motor real-time tethered launch control system and its control method based on an ARM embedded system. Attached Figure Description

[0041] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0042] Appendix Figure 1 This is a schematic diagram of the system principle structure of the present invention;

[0043] Appendix Figure 2 This is a schematic diagram of the program execution flow of the system of the present invention;

[0044] Appendix Figure 3 This is a schematic diagram of the connection between the motor and the system in an embodiment of the present invention. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings.

[0046] like Figure 1 As shown, a multi-motor real-time tethered catapult control system based on ARM includes an interconnected ARM processor module, a real-time operating system module, a motor control module, a data acquisition sensor module, a host computer module, and an isolation module.

[0047] The real-time operating system module includes a time management module, a task switching module, and a task scheduling module;

[0048] The motor control module includes a miniature electromagnetic clutch, a DC motor forward and reverse controller, a push rod motor submodule, a DC motor PWM speed controller, a DC motor, a stepper motor driver, a stepper motor, a Modbus communication interface, and a servo motor.

[0049] The host computer module includes an instruction processing and issuing module and a sensor data receiving and visualization module; the isolation module includes a power isolation module, a ground isolation module, and an optocoupler isolation module.

[0050] The motor control module is connected to the ARM processor module, the data acquisition sensor module, and the isolation module to control the motor operation; the data acquisition sensor module includes a motor status detection sensor and a rope end accelerometer.

[0051] One end of the tether is the weight end, and the other end is stored in the binding cylinder driven by a servo motor. The control system ensures the accuracy of the catapult body's motion posture and the effectiveness of the tether ejection and retrieval function by jointly controlling multiple motors.

[0052] The real-time operating system module is an embedded real-time operating system module.

[0053] The ARM processor module is used to run an embedded real-time operating system. It adopts a fuzzy PID algorithm to control and adjust the working status of each motor in real time based on the data collected by the motor status detection sensor and the accelerometer at the end of the tether, so as to realize the tether ejection and retrieval.

[0054] The weight end of the rope is attached to a weight.

[0055] Specifically, in this embodiment, it is assumed that the tethered ejection system has completed one round of tethered ejection and tethered retrieval operations. This process includes the workflow of each motor used in this embodiment. To enable the motors to respond quickly to changes in the speed of the tethered end, this embodiment employs a fuzzy PID algorithm for control.

[0056] A kind of ARM-based multi-motor real-time tether ejection control method, using the above-mentioned ARM-based multi-motor real-time tether ejection control system, characterized in that: the control method, with the working cooperation linkage of motor control module, embedded real-time operating system module, to ensure the control accuracy of the motion posture of the ejection main body, and the effectiveness of tether ejection recovery function.

[0057] In the control method, motor control module contains the following steps when working:

[0058] Step A1: micro electromagnetic clutch, push rod motor, stepper motor, DC motor, servo motor according to control flow respectively enter working state;

[0059] Step A2: motor state detection sensor module gathers each motor state data;

[0060] Step A3: according to the difference e and difference change de / dt between the obtained motor state data and target value, the e and de / dt corresponding to each motor are mapped to the respective fuzzy domain, the position of e and de / dt in the domain interval is obtained, then the domain point membership of e and de / dt is calculated using the trapezoidal membership function of formula 1, and then the membership of three parameters is obtained according to the calculated membership respectively inquires proportional, integral, differential membership reasoning table;

[0061] Step A4: according to the obtained P, I, D membership, calculate the specific P, I, D parameter value increment, and then obtain the motor state adjustment parameter adjustment motor state;

[0062] Step A5: repeat step A2-A4 until the working flow is finished;

[0063]

[0064] In the formula: A, B, C are three adjacent domain points.

[0065] In the control method, embedded real-time operating system module contains the following steps when working:

[0066] Step B1: real-time operating system performs task scheduler, interrupt controller, clock and other system resource initialization;

[0067] Step B2: The real-time operating system creates tasks according to the provided task functions and task priorities, and allocates stack space, the main tasks including: host computer instruction receiving processing task, DC motor PWM speed regulation task, stepper motor speed regulation task, stepper motor pulse counting and commutation task, Modbus read-write task, encoder data acquisition task, Hall sensor data acquisition task, current sensor data acquisition task, tether end acceleration data acquisition task, motor state data processing and uploading task;

[0068] Step B3: The real-time operating system enters the multi-task management stage, finds and executes the task with the highest priority in the task stack; a preemptive task scheduling algorithm is used to ensure that high-priority tasks are executed first; when a high-priority task enters a blocked state, the task scheduler calls other priority tasks; during task execution, if a higher priority task needs to be executed, the task scheduler interrupts and suspends the current task, and executes the higher priority task instead. By reasonably arranging the blocked state time of high-priority tasks and the number of tasks with the same priority, the real-time performance of the real-time operating system is ensured.

[0069] The data acquisition sensor module collects the working state data of each motor in real time, and transmits it to the ARM processor module through the isolation module, and at the same time, the tether end accelerometer collects the three-axis acceleration data of the tether end in real time, and transmits it to the ARM processor module through the Bluetooth communication interface, so that the ARM processor module can adjust the working state of each motor in time and improve the control performance of the system.

[0070] The interactive interface of the host computer module includes a user operation interface and a sensor data visualization interface; the host computer module is connected to the ARM processor for processing user instructions, issuing control instructions, receiving and visualizing motor-related state data and tether end three-axis acceleration data.

[0071] The user operation interface includes a launch preparation button, a launch button, a recovery button, and a data input box, and the above buttons are in a non-clickable state by default and can be clicked only when the conditions are met.

[0072] The sensor data visualization interface is used to display the working state of each motor and the attitude of the tether end in real time during the tether launching and recovery process, so as to enable the user to monitor the tether launching and recovery process in real time.

[0073] The tether launching and recovery includes the following steps:

[0074] Step D1: The ARM embedded real-time operating system rotates and schedules each working task;

[0075] Step D2: The user inputs the ejection data and clicks the ejection preparation button on the upper computer module interface; the upper computer module determines the position at which the servo motor starts to decelerate in the ejection stage according to the input ejection data, that is, the coefficient λ in the following formula 2 and the following formula 3, then calculates the speed change points corresponding to each time interval of the servo motor during deceleration according to formula 2, and then calculates the tether release length L required for the ejection main body to reach the corresponding position according to formula 3, and finally sends it to the ARM processor module together with the ejection preparation instruction. The micro electromagnetic clutch and each motor start the ejection preparation work according to the working process, and after the preparation work is completed, the ejection button on the upper computer module interface becomes clickable.

[0076]

[0077] wherein: l i is the tether release length of the ith segment, Δt is the interval time, a i is the tether acceleration of the ith segment, n i is the speed of the servo motor at the end of the ith segment, D is the diameter of the winding wheel, v0 is the initial speed of the tether ejection, m1 and m2 are the masses of the ejection main body and the mass at the end of the tether, respectively, and L1 is the target position of the ejection main body.

[0078]

[0079] Step D3: The user clicks the ejection button, the servo motor releases the tether at a speed higher than the ejection speed of the tether, and the tether is ejected; the ARM processor module uses the fuzzy PID algorithm to calculate the state adjustment parameters of the motor used in the ejection stage in real time according to the data collected by the motor state detection sensor, and adjusts the motor to the target state. When the length of the tether released by the winding wheel reaches , the servo motor starts to decelerate according to the discrete points derived from formula 3, and uses the interaction force between the tether and the ejection main body to drive the ejection main body to start to decelerate, so that the ejection main body stops when it reaches the target position; when the winding wheel releases the tether, the upper computer interface recovery button becomes clickable;

[0080] Step D4: The user clicks the recovery button, the servo motor starts to work, and the mass at the end of the tether starts to move at the current speed; the ARM processor module uses the fuzzy PID algorithm to calculate the state adjustment parameters of the motor used in the recovery stage in real time according to the data collected by the motor state detection sensor, and adjusts the motor to the target state to make the tether recover at a constant speed; the recovery process relies on the resistance of the winding wheel when dragging the mass at the end of the tether to keep the tether in a taut state during the recovery process. After the recovery process is completed, return to step D2.

[0081] The isolation module isolates the power supply of the ARM processor module, the data acquisition sensor module and the motor control module, and together with the ground isolation module and the optical coupling isolation module, inhibits the interference and noise of the control system in the working process, so as to provide clearer and more stable power supply signals and voltage signals, thereby improving the stability of the system.

[0082] In the embodiment, the ARM processor is an STM32F407ZGT6 processor; the push rod motor is a direct current motor, the stroke is 50 mm, and the thrust is 150 N; the stepping motors 1, 2 and 3 are 42 series stepping motors; the real-time operating system is a FreeRTOS operating system; and the Modbus communication of the servo motor adopts an RS485 bus protocol.

[0083] The patent is not limited to the above best embodiment, and anyone can derive other various forms of an ARM-based multi-motor real-time tether ejection control system and a control method thereof under the inspiration of the patent. Any equivalent changes and modifications made within the scope of the patent application of the present application shall be covered by the patent.

Claims

1. An ARM-based multi-motor real-time tethered catapult control system, characterized in that: The control system comprises an ARM processor module, a real-time operating system module, a motor control module, a data acquisition sensor module, an upper computer module and an isolation module. The real-time operating system module comprises a time management module, a task switching module and a task scheduling module. The motor control module comprises a micro electromagnetic clutch, a direct current motor forward and reverse rotation controller, a push rod motor sub-module, a direct current motor PWM speed regulator, a direct current motor, a step motor driver, a step motor, a Modbus communication interface and a servo motor. The upper computer module comprises an instruction processing and issuing module and a sensor data receiving and visualizing module. The motor control module is connected with the ARM processor module, the data acquisition sensor module and the isolation module to control the motor. The data acquisition sensor module comprises a motor state detection sensor and a tether end accelerometer. The heavy end of the tether is connected with a heavy object. The control method comprises the following steps: Step A1: the micro electromagnetic clutch, the push rod motor, the step motor, the direct current motor and the servo motor enter the working state according to the control flow; Step A2: the motor state detection sensor module acquires the motor state data; Step A3: the difference e and the change de / dt between the obtained motor state data and the target value are calculated, the e and the de / dt corresponding to each motor are mapped to the respective fuzzy domain to obtain the positions of the e and the de / dt in the domain interval, then the domain point membership of the e and the de / dt is calculated by using the trapezoidal membership function of formula 1, and then the membership of the three parameters is obtained by respectively querying the proportional, integral and differential membership reasoning table according to the calculated membership; Step A4: the P, I and D parameter value increments are calculated according to the obtained P, I and D membership, and then the motor state adjusting parameter is obtained to adjust the motor state; Step A5: steps A2-A4 are repeated until the working flow is completed. In the formula, A, B and C are three adjacent domain points. The real-time operating system module is an embedded real-time operating system module. ​ 2. The ARM-based multi-motor real-time tether catapult control system of claim 1, wherein: ​ 3. The ARM-based multi-motor real-time tether catapult control system of claim 1, wherein: The control method comprises the following steps when the embedded real-time operating system module is working: Step B1: the real-time operating system initializes the task scheduler, the interrupt controller, the clock and the system resources; Step B2: the real-time operating system creates tasks according to the provided task functions and task priorities, and allocates stack spaces, the tasks including: an upper computer instruction receiving and processing task, a DC motor PWM speed regulation task, a step motor speed regulation task, a step motor pulse counting and reversing task, a Modbus reading and writing task, an encoder data acquisition task, a Hall sensor data acquisition task, a current sensor data acquisition task, a tether end acceleration data acquisition task, a motor state data processing and uploading task; Step B3: the real-time operating system enters a multi-task management stage, finds and executes the task with the highest priority in the task stack; a preemptive task scheduling algorithm is adopted to ensure that the tasks with high priorities are executed first; when the high-priority task enters a blocked state, the task scheduler calls and executes other priority tasks; during the execution of the tasks, if a task with a higher priority needs to be executed, the task scheduler interrupts and suspends the current task, and executes the task with the higher priority; the real-time performance of the real-time operating system is ensured by reasonably arranging the blocked state time of the high-priority tasks and the number of tasks with the same priority.

4. The ARM-based multi-motor real-time tether catapult control system of claim 1, wherein: The data acquisition sensor module acquires the working state data of each motor in real time, and transmits the data to the ARM processor module through an isolation module; meanwhile, the tether end accelerometer acquires three-axis acceleration data of the tether end in real time, and transmits the data to the ARM processor module through a Bluetooth communication interface, so that the ARM processor module can timely adjust the working state of each motor and improve the control performance of the system.

5. The ARM-based multi-motor real-time tether catapult control system of claim 1, wherein: The interactive interface of the upper computer module includes a user operation interface and a sensor data visualization interface; the upper computer module is connected with the ARM processor to process user instructions, issue control instructions, receive and visualize motor related state data and tether end three-axis acceleration data; The user operation interface includes a launching preparation button, a launching button, a recovery button and a data input box, and the above buttons are in a non-clickable state by default and can be clicked only when the conditions are met; The sensor data visualization interface is used to display the working state of each motor and the tether end posture in real time during the tether launching and recovery process, so as to enable the user to monitor the tether launching and recovery process in real time.

6. The ARM-based multi-motor real-time tether catapult control system of any one of claims 1, 4, 5, wherein: The tether launching and recovery comprises the following steps: Step D1: the ARM embedded real-time operating system rotates and schedules various working tasks; Step D2: the user inputs the ejection data and clicks the ejection preparation button on the upper computer module interface; the upper computer module determines the position at which the servo motor starts to decelerate in the ejection stage according to the input ejection data, i.e., determines the coefficient λ in the following formula 2 and the following formula 3, then calculates the speed change points corresponding to each time interval of the servo motor during deceleration according to formula 2, then calculates the required tether release length L when the ejection main body reaches the corresponding position according to formula 3, and finally sends the ejection preparation instruction to the ARM processor module; the micro electromagnetic clutch and each motor start the ejection preparation work according to the working process, and after the preparation work is completed, the ejection button on the upper computer module interface becomes clickable; wherein: l i is the tether release length of the ith segment, Δt is the interval time, a i is the tether acceleration of the ith segment, n i is the rotational speed of the servo motor at the end of the ith segment, D is the diameter of the reel, v0 is the initial speed of the tether ejection, m1 and m2 are the masses of the ejection body and the end weight of the tether, respectively, and L1 is the target position of the ejection body. Step D3: the user clicks the ejection button, the servo motor releases the tether at a speed higher than the tether ejection speed, and the tether is ejected; The ARM processor module uses a fuzzy PID algorithm to calculate the state adjustment parameters of the motor used in the ejection phase in real time according to the data collected by the motor state detection sensor, and adjusts the motor to the target state; when the length of the tether released by the winding wheel reaches , the servo motor starts to decelerate according to the discrete points derived from formula 3, and drives the ejection main body to start to decelerate by using the interaction force between the tether and the ejection main body, so that the ejection main body stops when it reaches the target position; after the winding wheel releases the tether, the upper computer interface recovery button turns to a clickable state. Step D4: the user clicks the recovery button, the servo motor starts to work, and the end of the tether starts to move at the current speed and then keeps the speed to wind the tether; The ARM processor module uses the fuzzy PID algorithm to calculate the state adjustment parameters of the motor used in the recovery stage in real time according to the data collected by the motor state detection sensor, adjusts the motor to the target state, and makes the tether recover at a uniform speed; the recovery process relies on the resistance of the winding wheel when dragging the heavy object at the heavy object end of the tether to keep the tether in a taut state during the recovery process; after the recovery process is completed, return to step D2.

7. The ARM-based multi-motor real-time tether catapult control system of claim 1, wherein: The isolation module isolates the power supply of the ARM processor module, the data acquisition sensor module and the motor control module, which together with the ground isolation module and the optocoupler isolation module suppresses the interference and noise of the control system during operation, to provide clearer and more stable power signals and voltage signals, thereby improving the stability of the system.

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