Research On Motion Control Of Variable Load Chain Automatic Magazine

Automatic chain shell magazine is an important part of the automatic loading system of the gun ammunition and its motion control performance affects the reliability of whole system directly.This dissertation is based on the background of twelfth five-year Defense Pre-research project,and a series of work,such as dynamic simulation,control technology research,engineering experiment are studied in-depth by combining the theories of multi-body dynamics,PID control,sliding mode control,adaptive control,fuzzy control and so on.The main research contents of this dissertation are as follows:(1)The basic structure and the workflow of a automatic chain shell magazine system are introduced in detail,and the dynamic equations are established after mechanical system analysis and electrical system analysis.(2)The simulation platform of the automatic chain shell magazine control system is built based on the Matlab/Simulink software.An adaptive fuzzy sliding mode scheme is used for the position control.The parameter adaptive algorithm is adopted to estimate the system parameters and the influence of the model uncertainty on the control performance is reduced.And then a fuzzy logic system substituted for Discontinuous switching control term in the traditional sliding mode control,and the chattering in the control effort was reduced.The effectiveness of adaptive fuzzy sliding mode control which is proposed in this dissertation is verified by comparing the PID control,adaptive sliding mode control.(3)The experimental platform of the automatic chain shell magazine system is built,and the position control experiments are conducted when shells in the shell magazine are full,half or empty.The experimental results show that the control scheme has high dynamic and steady-state control precision,and is also insensitive to changeable load of the shell magazine.