Research On Servo Launch Control Technology Between Rocket Launchers

With the development of modern military science and technology,modern warfare has increasingly demanded rocket launchers.In order to improve the ability of rocket launchers to suppress the enemy on the battlefield and the survival rate of the battlefield,the concept of inter-launch firing was proposed.When launching a rocket launcher,there are system parameter uncertainties,vibrations caused by the impact of continuous gas flow during launch,etc.,which greatly affects the launch accuracy of the rocket launcher.In this paper,the rocket launcher twoaxis servo system is taken as the research object,and a combination of theory,simulation and experiment is used to carry out the research on the rocket launcher tracking control and launch response control during the travel.This article conducts research in the following areas:(1)Based on the ADAMS virtual prototype software,considering the impact of gas jet impact disturbances and the system's flexible deformation,a dynamic model of the roadvehicle-rocketing rocket coupling system was established to create conditions for the establishment of a rocket gun servo system mathematical model and system joint simulation..(2)The two-axis load torque equation is derived through the two-axis coordinate transformation and the dynamic equation,and the two-axis coupling relationship under the coupling action is obtained.The mathematical model of the rocket launcher servo system under the two-axis coupling action is established.The main disturbances that the servo system is subjected to during launch are analyzed,including random road disturbances,friction disturbances,and moment of inertia disturbances.(3)Combining PID control and feedforward control,using feedforward compensation system disturbances,designed a composite PID and feedforward control strategy;designed adaptive robust control for parameter uncertainty and time-varying disturbances in the system A linear extended state observer is introduced to estimate and compensate for time-varying disturbances in the system.Combined with adaptive robust control,an adaptive robust controller based on LESO is designed.(4)Control based on the dynamic model and control strategy established in this paper—dynamics multi-disciplinary joint simulation,using ADAMS / Simulink joint simulation to verify the designed control strategy.The simulation results show that the LESO-based adaptive The robust controller has better control performance.(5)For the vehicle rocket artillery experimental prototype,the embedded hardware and software based on the embedded position controller were designed,and the PID control algorithm and adaptive robust control algorithm were transplanted into the software of the experimental platform.The control strategy performance experiment was carried out to verify the design.Engineering feasibility of an adaptive robust controller.This thesis studies the problems related to the launch of the rocket launcher during the travel,proposes the servo system control strategy for the launch of the rocket launcher during the travel,and conducts a control-dynamics joint simulation to improve the reference for the future launch of the rocket launcher during the launch.