Research And Implementation Of Key Technologies In Driving And Control Of A Kind Of Servo Systems

The modern high technique war has put forward higher requirements for weapon equipments,the remote-suppressing multiple launch rocket system needs farther firing range and higher accuracy,and the varying range of the load inertia and torque are fairly large during continuous firing.The maneuvering target of the air defense weapon system has become faster and more maneuverable,which have brought higher request of the rapid response ability and tracking accuracy of air defense weapon systems.As an important component of the weapon equipments,servo systems begin to develop towards the direction of digitalization,networking and intelligentization.The rapidity,steady-state accuracy and robustness of the servo system determine the performance of the weapon system.The design and control of servo systems are facing new challenges.To meet the demand of new weapon equipments,some key techniques for a kind of ground launching weapon servo systems are studied.An integrated digitalized and networked motor drive is designed and implemented.The modeling and controller design of the servo system are achieved based on characteristic modeling and discrete sliding mode control.The correctness of the model and the effectiveness of the controllers are verified by simulations and experiments.The main contents are presented as follows:An integrated,digitalized and networked Permanent Magnet Synchronous Motor(PMSM)drive is designed to meet the demand of new weapon servo systems,and solve the problem of separation of drive and position controller,lack of standardization and universality,and difficulty in maintenance.The integrated drive,high-precision shaft angle measurement device and upper PC are connected with CAN bus to constitute a networked servo system,which has further simplified the system structure,and improved the reliability and maintainability.The PMSM drive is designed based on Digital Signal Processor(DSP)and Intelligent Power Module(IPM),the experimental results show that the designed drive can meet the demand of the system and has created good conditions for the implementation of high performance control algorithms.Aimed at the large-range varying load inertia and torque of remote-suppressing multiple launch rocket servo system during gun adjustment and firing,a mechanism model with large varying range of inertia,structural flexibility and friction is designed.The characteristic model of the servo system is established after the smoothing of nonlinear component such as friction,and the effectiveness of the characteristic model is verified by simulations.Then,a novel discrete sliding mode controller is proposed based on the model,and the stability of the closed-loop system is analyzed.The simulation results show that the proposed controller can adapt to the large varying range of load inertia and torque.Aimed at the demand of high speed and high accuracy tracking for air defense missile-gun servo systems,the characteristic model of the servo system is established after the smoothing of nonlinear component such as friction and backlash,and the characteristic model is verified by simulations.The recursive least square algorithm is adopted to identify time-varying parameters in characteristic model.A novel discrete second-order sliding mode adaptive controller(DSSMAC)based on characteristic model is proposed,and an improved observer is applied to predict the command value of next sample time.The stability of the closed-loop system and the convergence of the observer are analyzed.The simulation results show that the proposed controller can meet the demand of rapid and high accuracy tracking.An experimental platform of networked weapon servo system is built,which can simulate the effects of nonlinear components such as backlash,friction and varying inertia,and several experiments is carried out on the experimental platform to verify the effectiveness of the system design and proposed controllers.The large-range varying load inertia and torque of remote-suppressing multiple launch rocket system during gun adjustment and firing is simulated on the platform,and step response experiments with different load inertia are carried out.The experimental results show that the proposed discrete sliding mode controller can adapt to over 20 times varying of inertia,and maintain good dynamic and steady state performance.Step,slope and sine response experiments with different load inertia are carried out on the experimental platform to simulate the rapid tracking process of air defense weapons.The experimental results show that the proposed discrete second-order sliding mode adaptive controller not only can adapt to varying inertia and load torque,but also has good disturbance rejection ability and robustness to uncertainties,and has better tracking performance compared to traditional PID controller.