A Box-type Rockets Auto Research Gun Control Methods

The tactical function of multiple launcher rocket system becomes more and more important, not only for air defense anti-missile system but also for high technology local war in new period. It is highly imperative to research launcher rocket system with rapid and accurate performance. Servo control system plays an important role in the rocket launcher system. The servo system is characterized by big and varying rotary inertia, big and varying load torque. Aiming at shooting rapidly and accurately, it is necessary to study a novel approach, which has strong adaptive ability and can let the rocket launcher turn rapidly and smoothly. Considering the characteristic and control requirement of rocket servo system, this paper mainly involves the following parts.Firstly, the drive system of a multiple rocket launcher is introduced in this paper. According to the variation of bomb loads and elevation, rotary inertia and load torque of both azimuth system and elevation system are researched, in detail. And the mathematical equations of rotary inertia and load torque are acquired.Secondly, according to the drive scheme, mathematic model including azimuth servo system and elevation servo system are established. The azimuth servo system is driven by motor and gear, while the elevation servo system is driven by electro hydraulic servo system.Thirdly, the classical three-loop control scheme is used for azimuth servo system. Golden section adaptive control strategy based on characteristic model is designed for the position controller of azimuth servo system to cope with the time-varying parameters. The control strategy has a lot of advantages, such as being of strong adaptive ability, needing few parameters, not depending on mathematic model, being easy to realize, and etc. To balance the rapidity and stationarity, path planning method is introduced. Meanwhile, the control approach combining path planning method and golden section adaptive control is applied in the elevation servo system. Furthermore, aiming at the difficulty of low resonant frequency and narrow bandwidth, a notch filter is designed to broaden the bandwidth of the system. Simulation results show that high performance could be achieved with the proposed control strategy in the system.Finally, in order to describe the variation of rotary inertia and load torque in the real system, a set of simulation experiments are performed, in which, azimuth servo system and elevation servo system turn simultaneously. The simulation results verify the adaptive ability of the controller. The existence of vehicle roll angle leads to the coupling of azimuth system and elevation system. To decouple the azimuth system and elevation system, a novel scheme is proposed, in which the desired path under vehicle coordinate system is computed online from the data of rotary transformer and the attitude of the gun box. Simulation results prove the effectiveness of the control scheme.