Tracking,Aiming And Launching Control Research Of The Lightweight Weapon Station

This dissertation takes the lightweight weapon station system as the research object,the improvement of the weapon fight effect as the research purpose,handles the dynamics characteristics effect during marching(such as random disturbance from road),mechanical mechanics variations in aiming,and launching load in continuously firing,employs the research methods including the integration of theoretical analysis,simulation and experimental test,and implements the following theory and method research:stable searching control,position servo control and launching response control,with expecting some contributions to theory and application for the lightweight weapon station system.This dissertation includes the following research contents:(1)By employing the multi-flexibility system dynamic theory,this dissertation builds the dynamic model of the lightweight weapon station;based on electrical motor principle and control theory,this dissertation deduces the mathematical model of the electrical parts of the lightweight weapon station,and takes PID plus feedforward as the control method to build the numerical simulation model of the electrical and control system;and inserts the built multi-flexibility system dynamic model into this numerical simulation model,then builds up the coupling analysis model between the dynamic model and servo control model.(2)By taking the marching,tracking,aiming and continuously firing process in the lightweight weapon station as the research point,this dissertation handles the dynamic characteristics such as the random disturbance from road,mechanical mechanics variations,and launching load,implements the co-simulation during the dynamics and servo control,to reveal the tracking accuracy influence caused by the variations of the dynamics characteristics such as the loads and inertia moments,the requirements of the motor output torque,and the accompanied law of the unbalanced torque;complete the co-simulation between the launching dynamics and response control,the simulation and real firing test results demonstrate that the relative error of the acceleration and displacement of the gun keeps within 10%,which verifies the correctness of the co-simulation method between the launching dynamics and response control.(3)By building the DSP based position controller,and accomplishing the electrical circuit design,including the high-performance D/A transformation board,RDC module,serial communication module,power supply module and filed excitation circuit,this dissertation sets up the experimental prototype of the lightweight weapon station,to supply a research base for the following experimental research such as stable searching control,position servo control and launching response control.(4)To handle the random disturbance from road during stable searching control,this dissertation proposes a PID plus feedforward control method based on experimental control parameter setting method,and completes the influence of every control parameters via experimental research,fixes the exact model of the PID plus feedforward control;based on the considered lightweight weapon station,this dissertation takes the proportional gain Kp around at 2.5,integral gain Kj around at 0.2,first order feedforward gain Kf1 around at 4.0,second order feedforward gain Kf2 around at 16.0;to verify the correctness of the chosen PID plus feedforward control gains,some stable searching control tests are performed on the prototype of the lightweight weapon station,by the experimental measurement from MIMU/GPS integrated navigation system in the right-angle and S-angle road,the results reveal that the error in the stable searching of the pitching and azimuth axis keeps within 0.09°,and verify that the proposed control method and gain-tuning method processes have high stable searching control accuracy.(5)To realize the high accuracy control for position tracking under disgusting work conditions,this dissertation integrates the benefits of sliding mode control method and backstepping control method,and proposes sliding mode backstepping control method which is based on the upper bound estimation of uncertainty;by using free-factor to tune control parameters,and to reduce the effects of parameter perturbations and external disturbances,this dissertation designs the update law to online estimate the upper bound of the uncertainty,and completes the sliding mode backstepping controller design and stability proof;by implementing simulation analysis with the constant disturbance and time-varying disturbance,experimental verification with step signal,constant velocity signal and sine-signal tracking,simulation and experimental results reveal the proposed method holds high robustness against parameter perturbations and load disturbances,the tracking error keeps very small,and these performance meets the requirements of the position tracking control.(6)To handle the impact load disturbance during firing,this dissertation proposes an anti-disturbance control method based on the extended state observer,and realizes the real-time estimation of the unknown disturbance,simulation results reveal that the designed extended state observer can perfectly estimate the impact load;then this dissertation proposes a proportional-derivative based control method to realize the anti-disturbance design,employs the tracking differentiator to avoid the measurement noise effect,simulation results reveal that the command signal and tracking signal are almost same,the max error keeps within 10-2 level,and this can verify the correctness and effectiveness of the designed anti-disturbance controller and feedback controller;by using above control method on the lightweight weapon station,this dissertation implements the real firing test,compared to the un-controlled system,the controlled system can make the fire distribution have 36.8%reduction,which reveals that the response control method on the lightweight weapon station has a good capability against strong and transient impact disturbance.(7)To comprehensively consider the control requirements of the stable searching,position tracking and response compensation,handle the important effects such as random disturbance from road,load and inertia variation,viscous friction perturbation,impact disturbance during firing,and the coupling load disturbance between azimuth and pitch axis,and refer to the previous conclusion and experience,this dissertation performs adaptive robust control method research,and proposes a discontinuous-projection based adaptive method,in which the parameter adaptation always keeps within a pre-set range;designs a robust controller to handle various modelling uncertainties including parameter uncertainties and unknown nonlinearities,meanwhile not affect the adaptive law design;uses output tracking differentiator to estimate the tracking velocity and acceleration,to avoid the measurement noise effect.Simulation results reveal that tracking differentiator based adaptive robust control method processes better robustness and control accuracy.