Research On Fast Attitude Leveling High Performance Control Strategy For Vertical Launch Platform

The topic of the paper is selected from the college joint innovation fund project of CALT,and based on problems about the slowness and low precision in the attitude leveling process of a launching platform currently,the paper has researched the rapid and high precision attitude leveling control strategies,which are as the following aspects shown:1.Overall scheme design based on the active leveling control of a vertical launching platform.The automatic leveling mechanism of the vertical launching platform is composed of three parts,which are the automatic detection device,the leveling mechanism and the control system.2.Mathematical modeling of the attitude leveling system in a vertical launching platform.Establish the attitude model of the vertical launching platform,and conduct the leg statics analysis.Establish the mathematical model of the electro-hydraulic position servo system of each hydraulic leg,which takes the accuracy,simplicity and time-varying external disturbance characteristics of the established model into consideration,to facilitate the subsequent nonlinear controller design.3.Research on the integrated nonlinear control strategy of the hydraulic leg based on the parameter and disturbance estimation.Based on the nonlinear model of the single hydraulic leg,the paper designs the adaptive parameter estimator in view of the parameter uncertainties and constant interference,and designs the neural network disturbance observer based on RBF in view of the external disturbances,which are integrated together to offset the effect of system uncertainties through the model feed-forward compensation technology.4.Research on the autosync attitude leveling control strategy based on the cross coupling method.Its core idea is to feedback the synchronization error among hydraulic legs to each hydraulic leg controller,which is combined together with the position tracking error of the single hydraulic leg to form a coupling error,which is treated as the drive signal to drive the whole control process,so as to realize the rapid and synchronous attitude leveling of the launching platform.5.Simulation research based on the time-varying parameters and the external disturbances.Based on the AMESim/Simulink simulation environment,taking the four-leg and twelve-leg supporting platforms as research objects,the paper conducts the simulation research on the following aspects:one is to simulate the mechanical structure of the attitude leveling system in the launching platform;second is to simulate the integrated nonlinear control strategy on the electro-hydraulic position servo system of the hydraulic leg;three is to simulate attitude leveling control strategies of the launching platform.