Research On The Follow-up System Of A Certain Rocket Launcher Based On Shooting Direction Keeping

With the development of modern military technology,higher firing precision requirement of rocket launcher system is put forward.Firing precision of multiple rocket launcher is mainly embodied in two aspects,one is the accuracy,the other is the intensity.But on the one hand,considering the condition of launching,the system is influenced by combustion gas flow disturbance torque,which causes the vibration of launching platform and launcher tube.Then the firing precision decreases which is caused by the tube vibration angular velocity and the deviate of muzzle direction;On the other hand,due to technical limitations of manufacturing level,tube parallelism exists certain error.Considering the decrease of firing precision influenced by the two aspects,in order to realize the fire-direction keeping,the research on the muzzle reaim and parallelism correction of launcher tube has certain research significance.In this paper,one multiple rocket launcher is considered as research background,and the main works of this paper are focused as follows.The structure and working principle of the rocket position servo system are analyzed.The mathematical model of the rocket servo system is established.The causes of launcher tube parallelism error are analyzed and the correction method is put forward.For the combustion gas flow disturbance of rocket launcher system,the active disturbance rejection controller with three order extended state observer is designed to estimate disturbance.And the estimated value will be compensated to the error feedback rate,which realizes the compensation of total system disturbance.The simulation model is built to simulate gas flow.The simulation results indicate that the active disturbance rejection controller can effectively restrain the influence of gas flow.So the validity of this algorithm is proved.For the difficult parameters setting problem of the active disturbance rejection algorithm,immune clone particle swarm optimization algorithm is applied to optimize the parameters of ADRC.For the premature convergence problem of particle swarm optimization,immune clone algorithm is introduced to improve the global search ability,so that it is not easy to fall into local optimum.The cloud mutation operator is introduced in the high frequency variation to improve the performance of the dynamic optimization and the effectiveness of variation.The simulation results indicate that the performance of system is further improved with the optimized control parameters.The semi-physical simulation platform of the rocket servo system is built.The experiments are taken to compare ADRC and PID control.The experimental results show that the influence on fire-direction caused by strong disturbance can be effectively weaken with ADRC.The validity of the algorithm is proved.