Research On The Control Strategy Of The Swing Drive System Of The Vane-type Swing Hydraulic Motor

With the improvement of the performance of air-raid weapons,higher requirements have been put forward for the targeting,tracking,and interception capabilities of medium-low air defense missile weapon systems.Hydraulic servo system of missile launcher is a very important part of the missile system,which determines the success rate and accuracy of the missile launch.Therefore,the following works are focused on the hydraulic azimuth rotary servo system of the missile launching device:(1)A nested vane swing hydraulic motor is proposed to solve the problem that the traditional vane swing hydraulic motor has a small rotation angle,which satisfies large rotation angle below two circles.(2)The nonlinear mathematical model of the hydraulic rotary servo system of the missile launching device is established,which takes into account the main nonlinear characteristics and model uncertainties of the system,and describes the dynamic of the actual system more accurately.It lays the foundation for the design of the control strategy later.(3)Based on the nonlinear mathematical model of the hydraulic azimuth rotary servo system,a robust adaptive control strategy is design sed for the hydraulic azimuth rotary servo system subjected to both parametric uncertainties and uncertain nonlinearities.The proposed control strategy adopts an adaptive method to estimate the upper bound of the nonlinearity of the uncertainty,which reduces the conservativeness of the control strategy and makes it closer to the actual project.In order to reduce the influence of the initial value of the adaptive law when the system subjected to strong parametric uncertainties,a multiple model robust adaptive control strategy is proposed.The system is identified online by establishing multiple identification models with different initial value of parameters adaptive and then controllers are designed based on these identification models.The optimal controller is selected as the system control input through the switching strategy which ensure the stability of the system and improve the transient response performance of the system.(4)Azimuth rotation system and pitch rotation system sometimes work simultaneously to shorten adjustment time.In this case,the moment of inertia of the load around the central axis of the azimuth rotation is time-varying.The relationship between the moment of inertia of and the pitch angle is founded and the nonlinear mathematical model is established based on the relationship.Considering system subjected to both strong disturbance and strong parametric uncertainties,an active disturbance rejection adaptive control strategy is designed.The adaptive law is synthesized to handle parametric uncertainties and the remaining uncertainties are estimated by the extended state observer,so the burden of the extended state observer is reduced and the tracking performance is improved.The proposed controller theoretically achieves an asymptotic tracking performance in presence of parametric uncertainties and constant disturbances and guarantees the uniformly bounded stability of the system when existing time-variant uncertain nonlinearities.In order to further improve the tracking performance of the system,the influence of the initial value of the parameter estimation and the estimation error of the observer are considered,and a multiple model active disturbance rejection robust adaptive control strategy is proposed.The proposed controller is derived by effectively integrating multiple model robust adaptive control with extended state observer which preserves the advantages of multiple model robust adaptive control and extended state observer-based active disturbance rejection control and overcomes their shortcomings.The proposed controller theoretically achieves an asymptotic tracking performance whenever the uncertain nonlinearities is time-varying or constant.(5)The proposed control strategies are verified by using a double-cylinder hydraulic cylinder position servo experimental platform.Comparative experimental results are obtained to verify the effectiveness of the proposed control strategies.This study is helpful to the design and improvement of the nested vane swing hydraulic motor and several electro-hydraulic servo control strategies are designed,which provides a reference for the design of similar hydraulic servo systems.