Research On Control Mechanism Of A Type Guided Projectile Equipped With Controllable-rolling Actuator

Deceloping guided projectiles is one of the most important approaches to fundamentally improve the firing accuracy for ship-borne guns, especially as air defense ammunition, can greatly improve the anti-missile capability. In order to improve the correction ability of the guided projectiles and control efficiency of its servo, a canard guided dual-spin stabilized projectile equipped with controllable-rolling electric actuator is studied. Focusing on some theoretical and technical problems encountered during the research process, the ballistic characteristics and the controllable-rolling electric actuator system are investigated.The scheme of the guided projectile system equipped with controllable-rolling actuator is considered. Based on the analysis of structure and shape of the projectile, guidance and control system and control principles of its servo, the correction ability of the guided projectiles when shooting at the mobile cruise missile are investigated. Next, the rudder-body frame is introduced, and the general form of seven degree-of-freedom(7DOF) equations of motion for the dual-spin projectile is established by the Newton-Euler method.The expressions of applied forces and moments are provided.By aerodynamic estimation and analysis with Missile Datcom, aerodynamic co efficients in different flight conditions are obtained. The changes of the the main aerodynamic coefficient is analyzed under the conditions of different angles of attack and different rudder angle. And the hinge moment is obtained from the wind tunnel data of the controllable-rolling actuator. Then, the effect of variation of muzzle velocity, elevation angle on the controlled trajectory is discussed by flight simulation. The ballistic distribution induced by stochastic errors of the control signal of the sevro is also analyzed. Simultaneously, the conceptual and pactical foundation is provied for the performance of servo system.A new solution of the correction mechanism is applied to the spin guided projectile is proposed. Firstly, the scheme of the controllable-rolling actuator system is determined, including the transmission scheme, measurement system and optimization design of parameters of transmission ratio. The calculation of the deflect angle is given by mathematical methods, to systematically study the problems of the system ratio and the uniqueness of the deflect angle. The result indicates that the selection of the ratio determines the uniqueness of the deflect angle. Analysis of dynamic characteristics of the system is simulated by ANSYS and ADAMS, the result indicates that the dynamic performance can be improved by increaseing the motor output shaft stiffness and the damping between the ring and the body of system. Finally, the mathematical model of the servo system is established, which is verified according to the characteristics of the system under special working conditions.Three tracking strategies of the servo system on the track path in the azimuth are proposed, and the tracking characteristics and tracking methods of the strategies are summarized. And, to achieve high tracking precision and stabilization of the servo system which contains nonlinearity and uncertainty in the situation of parameters perturbation and uncertain external disturbances, a decoupling high order Taylor polynomial approximation based active disturbance rejection control scheme is proposed. The convergence of estimation error for the observer with any extended order is proved by utilizing Lyapunov’s inverse theory. Simultaneously, the quantitative relationship between the upper bound of estimated error and extended order is derived. Simulation results show strong robustness and effectiveness of this control algorithm which can reject uncertain nonlinear factors of the system.The integrated digital servo controller is designed, which meet the requirements of flight test. Non-contact, indirect measure methods are used to calculate the deflect angle which are firstly proposed based on the characteristics and engineering requirements of the system. Aiming at the particularity of the azimuth angle measuring sensor of the system, a kind of filtering algorithm is proposed to solve the traditional filtering method in the problem of data transition. Thus, the experimental and testing devices are designed on the base of the special requirement. The experimental results indicate that the servo system has the advantages of high control efficiency and slight overshoot and high accuracy in stability, as well as strong anti-disturbance and robustness. At the same time, the servo reduces the needs of the power and the response speed of the motors on the spinning missile. In summary, the research comes up with a new study concept on the controllable-rolling electric actuator system and has a certain reference value to the further study of the system in the future work.