Design And Control Technology Of Rocket Launcher Pitch Direct Drive Device

With the rapid development of military industry in modern countries,new requirements have been put forward for the performance indexes of Chinese Rockets,especially for the shorter preparation time before launching and the shorter closing time after launching,so as to further improve the mobility and field survival ability of Chinese Rockets.Therefore,in this paper,the following aspects are studied for the direct drive device of rocket gun rotation:(1)Aiming at the problems of small output torque,small swing range and large leakage of traditional swing motor,a double vane swing hydraulic motor is proposed,which has the advantages of large output torque,large swing angle and good sealing performance.(2)The finite element analysis of the designed double vane swing hydraulic motor is carried out,including the strength analysis of the motor parts and the sealing performance analysis of the sealing structure.The simulation results show that the designed motor structure is reasonable and the sealing performance is good.The theoretical formula of the internal leakage of the designed motor is deduced and calculated,and a more accurate nonlinear internal leakage model is obtained.At last,we test the designed motor and prove the superiority of motor performance again.(3)The nonlinear mathematical model of the direct drive servo system is established.The model considers the main model uncertainty and nonlinear characteristics of the system and the nonlinear internal leakage model of the motor designed in this project.It describes the dynamic of the actual physical system more accurately and lays the foundation for the design of the subsequent control strategy.(4)Based on the nonlinear mathematical model of the direct drive servo system,two nonlinear high-precision control algorithms,adaptive robust controller(ARC)and adaptive integral robust controller(ARISE),are designed,which solve the nonlinear problem of parameter uncertainty and strong disturbance uncertainty in the system,and obtain good tracking performance in theory.Finally,the simulation results of the two nonlinear controllers and the traditional PID controller are compared and verified.It is found that under the same parameter conditions and working conditions,the error trend of ARISE and ARC is the same,but the error of ARISE is smaller and the peak is lower,which shows that the performance of ARISE is obviously better than that of arc and traditional PID controller.The research in this paper is beneficial to the design and improvement of the double vane swing hydraulic motor.Two kinds of electro-hydraulic servo control strategies are designed,which provide reference for the design of similar hydraulic servo systems.