Multi-slave System Positioning Control Based On Ethernet

In order to solve the key problems in the research of high precision positioning control of multi-servo system of anti-aircraft artillery systems,such as low system communication speed,limited networking capability,gun control system external interference and many non-linear factors,this paper aims to solve the bottleneck problem of these restrict the performance of antiaircraft gun,a network control based on Ethernet is proposed,and a fractional-order PID controller based on continuous smooth extended observer is designed.Based on the high precision positioning control design of antiaircraft gun as the research background,and standed on the network control structure has become the mainstream in the real control system,this paper presents the design of high-precision positioning control system based on Ethernet in the real-time analysis of Ethernet,the design of control system and the verification of mathematical simulation aspects.What's more,the communication real-time of servo system and the positioning control strategy of multi servo control system are studied emphatically.The experimental scheme of the system communication network is designed and analyzed the delay of communication network based on CAN-Ethernet.Since the position controller is designed based on the auto-disturbance-rejection technology,this paper constructs a continuous smooth fan()for the high-frequency flutter of the extended state observer(ESO)based on the fal().The extended state observer(CS-ESO)based on fan()function is designed and the correctness of the improved control algorithm is verified by numerical simulation.For many non-linear characteristics of multi-servo control system,a fractional-order PID controller is proposed,and a real-time dynamic feedback compensation control strategy is proposed by CS-ESO.In order to test the control performance of the designed controller in a real multi-servo control system,the system was modeled and simulated and analyzed by semi-physical platform.The hardware-in-the-loop simulation results show that the real-time performance of CAN-Ethernet communication network is high,and the industrial computer sends positioning information to six gun control systems in turn.The total time consuming from sending to receiving feedback information is 72ms;the designed CS-ESO performance is good,CS-ESO-FOPID has a high precision of dynamic control,strong robustness to external disturbances,and a multi-follower system based on Ethernet.Communication speed and control accuracy can meet the performance requirements.