| As a kind of thrust vector devices of guided rocket,jet vane has the advantages of simple structure,little thrust loss and fast dynamic response,which can greatly improve the maneuverability of missiles.The deflection of the jet vane blade in the jet flow field produces controlling force and controlling torque.Then it changes the missile body attitude.Controlling the actuator to make the vane deflect is a core part of the control system.In this paper,the brushless DC motor itself has non-linearity and time-varying characteristics,and it is difficult to achieve high-precision control.The research is carried out pertaining to the jet vane control system and its controller,and the PID control based on ant colony algorithm parameter optimization is carried out.The main contents and research results are as follows:(1)The structure and working principle of the brushless DC motor are analyzed.A detailed analysis of the structure and working principle of the brushless DC motor is carried out.According to the selected servo actuator,the mathematical model of each part of the brushless DC motor is established,and the dynamic simulation model of the control system is established on the simulation platform according to the derived transfer function.(2)The controller of the control system is designed,the key parameters of the ant colony algorithm are studied and the controller is improved.In order to realize the high-precision control of vane deflection,this paper proposes intelligent ant colony algorithm for PID controller parameter optimization,analyzes the principle of ant colony algorithm,and determines the control effect of PID controller based on ant colony algorithm parameters optimization according to simulation.Because there is no theoretical support that how to reasonably select the key parameters of ant colony algorithm.According to the effect of basic ant colony algorithm controller,the key parameters are studied and analyzed,and the improved adaptive ant colony algorithm is designed to improve the performance of the algorithm and controller.(3)This paper designs a set of jet vane control system control board based on embedded system,which uses STM32F103VET6 as the main chip.The power module,serial communication module and driver module are introduced,which aim to control brushless DC motor.According to the control algorithm,the slaver is programmed to realize the application of the controller.(4)The design and experiment research of jet vane deflection control experiment system.A five-component strain balance was adopted as the transmission mechanism of the jet vane.The theoretical value obtained from the simulation and measured value of the lift were compared to verify the feasibility.A solution for obtaining the jet vane aerodynamic load.is provided.PID controller based on classical tuning method and PID controller based on ant colony algorithm are applied to the control system of Brushless DC motor,and the performance of the controller is verified by vane angle experiment of jet vane control system.According to the experimental data,the rise time of PID controller based on adaptive ant colony algorithm parameter optimization is shortened by 0.41 s,the adjustment time is shortened by 0.77 s under the step signal input,and there is no overshoot,which has better control effect,and can effectively improve the angle control performance of gas rudder. |
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