Robust Control Of A Cluster Of Air Defense Rocket Position Servo System And Applied Research

With the change of modern war pattern and development of military scientific technology, higher requests of antiaircraft rocket launcher are put forward, i.e. necessities of higher shooting precision.To cater for development of antiaircraft rocket launcher, integrating with research of servo system of some cluster antiaircraft rocket launcher, high performance ac position servo system of antiaircraft rocket launcher is studied. It can effectively improve shooting precision of antiaircraft rocket launcher, fulfilling the positioning and tracking accuracy when servo system is under parametric variation of the model and strong disturbance, and have important theoretical value and realistic meanings.Mathematical model of PMSM is elaborately analyzed, then mathematical model of ac servo system of antiaircraft rocket launcher is set up and major control methods of servo system are discussed. Controller design of the system is deeply investigated and simulation of conventional PID controller of the system is done. Simulation results indicate that the system can achieve fairly good performances under good parametric matching, but when systematic parameters vary or the system encounters external disturbance, systematic performance will be bad. Therefore, it is necessary to develop novel control methods.Aimed at systematic characteristics such as greatly varying parameters and load, and strong impact moment, classical PID control can't satisfy high precision positioning control. Hence, a kind of two-degree-of-freedom PID control method is put forward. This controller has only two adjustable parameters and dynamic performances of the system are directly related to parameters of the controller, and position following performance and anti-disturbance performance may be adjusted respectively. Theoretical analysis, simulation and experiment results indicate this controller can make the system have good position following performance and anti-disturbance performance. The system has fairly strong robustness. Besides, design method is simple, parameters' adjusting is convenient, the controller is easily realized, and can satisfy requests of high performance ac servo system.H_∞robust control method has been effectively applied to automatic control theory of robust stability, variation of parameters and disturbance restraining in recent years. In view of characteristics of ac servo system for antiaircraft rocket launcher, aimed at variation of parameters and outer disturbance, in order to achieve high precision position control, a kind of robust control method is put forward to restrain influences of various uncertainties acting on controlled object, thus enhance robustness of the system. Besides, combined with optimal control theory, optimal controller is introduced to satisfy following characteristic of the system. Simulation results indicate this method can both satisfy following characteristic of servo system and effectively restrain disturbance. After adopting this method, the system has high precision, strong robustness and practical application foreground.Integrating fuzzy control with sliding mode VSC, a fuzzy sliding mode controller is put forward. Here, sliding mode controller is used to conquer effects of disturbance and uncertainties of the model. On the other hand, fuzzy controller is used to evaluate boundary value of uncertainties of the system real time to decrease chattering, thus exert excellences of two controllers. Apply this controller to speed loop and position loop, and simulation results indicate that fuzzy sliding controller can effectively weaken chattering phenomenon of traditional sliding mode control and has strong robustness.In order to weaken chattering while the system keeps strong robustness to variation of model parameters and outer disturbance, integration of sliding mode control and neural network is studied. Simulation results indicate that this controller can not only effectively decrease static error, but also have strong robustness to variation of model parameters and external disturbance. It can satisfy performance requests of the system, and have excellences of simple structure and easy realization.At last, prototype experimental research of the system is carried out. Classical PID control and IMC experiments of position servo system are done. According to experimental research, realization of systematic design index is validated. At the same time, correctness of design scheme and effectiveness of control algorithms are validated, providing guidance for further research of the system.