| Traditional fire control theory could not satisfy the desired performance of air-defense rocket launcher (ADRL) any more because of intense external disturbance and parameter perturbance. Optimization is proposed to servo system of ADRL. Math model is established based on reasonable assumption and simplify, and both backstepping sliding mode and second order feed-forward control are applied in position loop of servo system. Both response of speed and tracking precision are improved as well as the robustness of system, meanwhile the overshoot is eliminated.Inner-loop controllers including speed controller and current controller are designed by frequency-domain analysis, based on which the math model of ADRL servo system is established. A novel backstepping sliding mode arithmetic is derived and applied in position loop, meanwhile a second order feed-forward control is introduced to improve tracking accuracy at low speeds. Simulation shows this control strategy can meliorate tracking performance and disturbance rejection capability. Then, General structure of the cluster air defense rocket launcher turntable servo system is designed, the detection equipment and control system is analyzed in detail. And a control chip is designed based on TMS320F2812, including the hardware and software of the system, to verify the control algorithm control performance.Finally, based on the experimental platform of the air-defense rocket launcher turntable prototype, the PD control and second order feed-forward backstepping sliding-mode control algorithm of position loop are used in the control system. From the experimental results, It can be proved that the results of the control algorithm is consistent to the simulation, which has some value in engineering is better to improve the comprehensive performance of the system. |
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