Research On Control Technology In Ammunition Loading Systems Of A Self-propelled Gun

Self-propelled gun is the main developed and equipped artillery of the present nations.It has the characteristics of good maneuverability and accuracy,fast reaction capability,long range,high power,high cost-effectiveness of life cycle,strong continuous fighting ability and all-day operation ability.The ammunition loading system is the main component of self-propelled guns,which is responsible for the process of ammunition loading.The excellent performance of ammunition loading system has great significance to the development of self-propelled gun equipments.As the main part of the system,the control strategy provides the guarantee for accurate and reliable effect of ammunition loading systems.Based on a self-propelled gun as the research object,in view of the ammunition loading system of variable loads,disturbance and nonlinear parameters problems,from the aspects of generality,satisfying the requirements,optimizing and simplifying the structure of the controller,several kinds of new control strategy designed on typical organizations,mainly studied the control technique of a certain self-propelled guns and ammunition loading system.The validity of control method is verified through theoretical analysis and the control effects on the system of newly designed sliding mode variable structure control strategies is verified by experiments.The theoretical basis and experimental methods are provided to solve practical engineering problems.The thesis mainly includes the following research contents:(1)The overall analysis of a self-propelled gun ammunition loading system has been completed.The structure of the system is analyzed and the design of ammunition loading control system is completed as well.The dynamic characteristics of the main mechanisms are analyzed and the dynamic models of the key structures are established.This dissertation analyzes the mechanism characteristics and control difficulties of modular charge transport system of horizontal structure,vertical automatic magazine,shell transfer manipulator and electro-hydraulic servo shell coordination manipulator.This thesis summarizes the problems need to be solved of variable loads,disturbance and nonlinear parameter.(2)The position control study of variable loads modular charge transport servo system of horizontal structure has been completed.The mathematic model of permanent magnet synchronous servo motor is established,and the dynamic model of variable load system is put forward by using the mathematical equation of equivalent moment of inertia and equivalent damping coefficient.In view of the nonlinear change of loads of the system,adaptive,double power reaching law and fuzzy methods are designed.And the relationship between the methods is analyzed.The design experiment compares the control effects of different methods for the system under empty load,half load and full load,and summarizes the control technology which is more suitable for engineering application.(3)Based on disturbance problem of the vertical automatic magazine,the optimization control strategy is designed by using a disturbance observer,and the precise positioning control technology of the system is studied.The designed experiment compares the performance of the control strategy and the suitable control method is summarized for the vertical automatic magazine which provides theoretical supports for the engineering application of the system.(4)In view of the motion state of the shell transfer manipulator in the rotation process considering loaded and unloaded,this dissertation designs the adaptive RBF neural network control strategy.It has solved the changed loads and disturbance affects to the positioning accuracy of the manipulator.The proposed method improves the control precision and robustness of the system and guarantees reliability of the ammunition loading system of the self-propelled gun.(5)The position control technology of the nonlinear electro-hydraulic servo shell coordinated manipulator has been completed.According to the characteristics of the hydraulic system and the working methods of the manipulator,the control model of the servo system is established.In this dissertation,the adaptive sliding mode controller is designed which realizes the precise localization of the shell coordinated manipulator and makes the electro-hydraulic servo system a good performance.