Analysis And Research On Small Unmanned Launchers

The research of small unmanned launcher is based on unmanned combat platform as the design prototype to enhance its intelligence and miniaturization,so as to meet the needs of the future battlefield.The small unmanned launcher is taken as the research object,in order to improve its control response ability,the analysis method of combining theory,simulation and experiment is adopted,the overall structure design of the small unmanned launcher and the comparison and analysis of the performance of various control strategies are carried out,the electromechanical joint simulation research is completed by establishing the dynamics and control model of the small unmanned launcher,the experimental research is completed by building a prototype,and have a certain value of national defense application.The following aspects are mainly completed:(1)Completing the analysis of the development status and trend of the unmanned combat platform at home and abroad,and put forward the defects and research direction of the domestic unmanned combat platform according to the current situation,determine the research direction and methods of this topic.(2)To determine the technical index of the small unmanned launcher,calculate the related parameters according to the working principle,select the suitable motor and reducer according to the calculated results and performance differences,and carry on the modular design according to the function to the small unmanned launcher.It mainly includes the following five modules: azimuth module,pitching module,weapon subsystem module,optoelectronic sensing module,servo control module,and completes the overall structure design.(3)In order to make up for the deficiency of traditional PID,three kinds of position loop control strategies based on three-loop control theory are adopted.The three kinds of control strategies are respectively based on the input signal as the unit step signal,and the simulation under the condition of 0.1 N ?m load interference is added,and compared with the traditional PID.The analysis results show that the four control strategies have their own advantages and disadvantages,but they are compared.After its responsiveness and anti-load capacity,the fuzzy adaptive PID control strategy with better comprehensive performance is selected.(4)The co-simulation model of dynamics and servo control for small unmanned launcher is established,the electromechanical co-simulation is completed based on the position loop fuzzy adaptive PID control strategy,the position,angular velocity and torque changes of the azimuth and pitch motors are analyzed,the results show that the mechanical performance and control performance of the small unmanned launcher designed meet the design specifications of the follow-up control components.(5)The DSP processor and control box are installed,and the experimental prototype of the small unmanned launcher is constructed.A scheme of measuring the real-time angular velocity of the servo system based on the traditional PID controller by high speed photography is put forward: the 24 V voltage stabilizing power supply is inputed to the motor,and the muzzle marking point state is captured by high speed photography.The angular velocity variation law of azimuth servo system and pitch servo system is obtained,and then compared with the electromechanical simulation results and the technical index of automatic gun adjustment,the results show that the design scheme is feasible.