Research On Motion Control System Of Remote Control Weapon Station

With the development of national defense,remote control weapon station has become a research hotspot of military powers because of its advantages of high mobility,high response speed,high protection ability and high intelligence.Based on the needs of the design of remote control weapon station,aiming at the zero position correction and firearms correction of photoelectric viewer in remote control weapon station,this paper proposes a method of zero position correction and firearms correction of photoelectric viewer based on spatial coordinate conversion.The feasibility of this method is verified by experiments;And then the electromechanical joint simulation of the remote control weapon station is carried out.According to the simulation results,the motion control system of the remote control weapon station is designed,mainly including the following contents:1)Research on zero position correction and gun correction of photoelectric sight in remote control weapon station.Combined with the design structure of the remote control weapon station,the geometric model is established.At the same time,the photoelectric sight,firearms and target aiming of the remote control weapon station are corrected by the method of coordinate transformation;The algorithm equations of the three are derived through the formula,and the algorithm is analyzed with MATLAB to verify the correctness of the algorithm,which provides a theoretical basis for the subsequent correction of remote control weapon station and the realization of target positioning.2)The electromechanical joint simulation of remote control weapon station is carried out.Taking the gun tower system of the remote control weapon station as an example,the electromechanical joint simulation of the remote control weapon station is carried out by using MATLAB and ADMAS,the corresponding servo control model is established by using Matlab/ Simulink,the corresponding dynamic model is established in ADMAS,and the whole movement process of the remote control weapon station is simulated by using the information interaction function of the two software.The appropriate parameters such as PID and feedback coefficient are found through simulation,and the simulation results under these parameters can meet the design requirements.3)The motion control system of remote control weapon station is designed.The composition of motion control system of remote control weapon station and the design of servo control system circuit and motion control system software.The servo control circuit is mainly composed of core processor,drive board,control board,etc;The software of motion control system is mainly composed of system initialization,system parameter design,motion control algorithm module,servo control PID algorithm module,main program module,GPIO configuration module,communication module,AD sampling module,PWM drive module,etc.4)Experimental analysis of remote control weapon station.Firstly,the experiments of zero position correction of photoelectric collimator and gun weapon in remote control weapon station are carried out,and the experimental analysis is carried out to verify the feasibility and accuracy of the methods of zero position correction and gun weapon correction;Then,the performance of the motion control system of the remote control weapon station is analyzed and studied（mainly the photoelectric observer motion control system and the gun tower motion control system）.It is verified that the photoelectric observer motion control system and the gun tower motion control system of the remote control weapon station meet the technical indexes of the remote control weapon station.