Research On High Precision And Safety Integrated Control Of Weapon Station Servo Device

The weapon station is a light weapon system equipped with photoelectric detectors,guns and anti tank missiles,which can be installed on manned and unmanned mobile platforms.The weapon station is a servo device composed of multiple motors,reducers and controllers.The aiming,tracking and fire attack accuracy of the weapon station mainly depends on the position and speed control performance of the servo device.With the change of the on-board installation platform and the continuous expansion of the weapon configured,higher requirements are put forward for the motion accuracy.How to improve its control accuracy has always been a research hotspot in this field.Intelligent unmanned combat is the main war style in the future.Weapon stations will be more and more used on unmanned mobile platforms.The safety of weapon station servo device has become the key to restrict its application on unmanned platforms.This paper mainly focuses on high precision and functional safety of servo device in weapon station.In terms of high-precision control,it mainly analyzes the nonlinear disturbance characteristics of machinery,sensing,control and other links,finds out the main factors restricting the improvement of dynamic firing accuracy between weapon stations.In terms of safety control,the research on servo performance optimization and motion error prediction is mainly carried out according to the load variation characteristics of the servo device,so as to provide the basis for the selection of characteristic parameters for the monitoring and evaluation of the safety state.The research of this paper comes from the traction of major equipment development requirements,carries out theoretical research on the common basic problems restricting the solution of difficult problems,and forms key technical solutions.The main research contents of this paper are as follows:1.The weapon station is an electromechanical system composed of multiple degrees of freedom servo mechanisms.In order to understand the causes of the performance of servo devices,the dynamic modeling of servo devices and the analysis of performance influencing factors are carried out.The coupling dynamic model and single axis electromechanical hybrid model of weapon station are established,the motion transmission characteristics and inertia coupling relationship of shafting are analyzed,and the action mechanism of external road excitation,internal mechanical parameters and motion planning mode on servo performance is explored,so as to provide model basis and theoretical basis for the performance analysis of servo device.2.The mechanical characteristics of transmission components have a direct impact on the evaluation of the consistency of mechanical assembly performance,the complexity and effectiveness of control algorithm.The existing transmission characteristic measurement methods are difficult to meet the requirements of fast on-line measurement.Therefore,the measurement methods of nonlinear parameters such as static friction torque,sliding friction torque,transmission return and unidirectional transmission error are studied.A set of multi interface,high stiffness and adjustable mechanical transmission platform is designed and a portable measurement software system is developed.It provides means for quantitative description and evaluation of mechanical characteristics of servo device.3.In order to improve the firing accuracy of the weapon station,a high-precision compound control method is proposed based on the analysis of the transmission resonance and friction characteristics of the servo mechanism.Aiming at suppression of nonlinear disturbance,multi-order polynomials are used to describe the time-varying characteristics of random disturbances,and a proportional multiple-integral-based state augmented Kalman filter based observer is constructed to minimize the asymptotic stability condition of observer error state equation and the mean square error of observation results,so as to effectively improve the performance of nonlinear disturbance suppression.The proposed algorithm has been applied in a certain type of equipment,and the stability accuracy is effectively improved.4.In order to overcome the impact and instability of servo mechanism in the process of large angle rotation,the on-line acceleration and deceleration planning method of command is studied.For the online linear acceleration and deceleration planning under the condition of arbitrary starting and ending speed,a solution algorithm based on bang-bang control method and analytical method is proposed.For the online S-curve acceleration and deceleration planning under the condition of arbitrary starting and ending speed and acceleration,an on-line dimensionality reduction method of motion planning equation based on Newton iterative method is proposed according to the principle of optimal efficiency,which effectively ensures the motion stability of large inertia weapon station in the process of large angle rotation.5.Aiming at the safety of servo function in unmanned application of weapon station,the research on safety integrated control under the change of actual load and characteristics is carried out.A hybrid modeling method of parameter model and transmission error model for servo function safety model is proposed.An on-line parameter model identification algorithm based on recursive augmented least squares and a transmission error extraction algorithm based on wavelet transform are designed,which provides a basic performance prediction method for load inertia adaptive optimization,motion error prediction and further realization of servo safety control.