Research On The High-precision Servo Control Method Of The Launching Box On-board Hoisting Mechanism

The forms of war have changed frequently since modern times,long-distance combat makes logistic supply and battlefield maneuverability the key factors affecting the victory or defeat of war.The requirement of weapon launching equipment in the field of national defense is getting higher and higher.Based on the project of national natural fund of China,this paper studies the high-precision control method of launching box on-board lifting mechanism.Mainly work in the following aspects:1.Analyze the dynamic characteristics of the truck-mounted manipulator and analyze the dynamics of the manipulator.The dynamic model of multi-degree-of freedom manipulator is established by Lagrange dynamics formula.2.Design of nonlinear control strategy for hydraulic manipulator system of truck-mounted crane.Because of the serious non-linearity of the crane mechanism and the coupling between the joint and the connecting rod,it is difficult to design the system controller.In addition,in practical applications,there will be problems of system state unmeasurability and state constraints.To solve the above problems,an extended state observer is designed to observe the state and disturbance of the system,and solving the differential explosion problem in backstepping computing by using command filtering Technology.At the same time,an command filter is designed to control the state of hydraulic system.3.Hydraulic system of multi-degree-of-freedom manipulator is simulated by using MATLAB.The working device of mechanical equipment such as crane on board is usually a 2-DOF or 3-DOF manipulator,which requires cooperative control of multiple hydraulic systems and each control system has a great influence on the final control accuracy.Aiming at the whole model of hydraulic manipulator,the control method is designed.Finally,the control of each system is simulated with MATLAB to verify the effectiveness of the proposed control strategy.4.Using the existing hydraulic test platform in the laboratory,a single cylinderhydraulic model of the manipulator is established.The designed control method is used for experimental verification.The experimental results show the effectiveness of the proposed control strategy.