Research On High-precision Motion Composite Control Method Of A Transmitter's Position Servo System

With the development and application of high-tech weapon systems in various countries,the mode of modern war is undergoing dramatic changes.The launch device with high mobility and precision has gradually become the research focus.However,because of the complex working condition of the electromechanical servo system of the launcher,the control performance of the system is restricted.How to make the electromechanical servo control system of the transmitter respond quickly and have good tracking accuracy under the condition of its own parameter uncertainty,and maintain certain robustness under the instantaneous external impact interference at the same time,which has gradually become the focus of servo control system research.In this paper,the electromechanical servo system of the rocket launcher is the research object,mainly from the following aspects:1.According to the performance index of the follow-up system of the launching device,the whole system is designed.The contents include: the composition and layout of the mechanical transmission structure of the rocket launch follow-up system;the construction of the electrical platform of the follow-up part;and the interface design of the peripheral equipment including the follow-up controller.2.There is nonlinear friction in the transmitter at high precision and low speed.Combined with the dynamic equation of permanent magnet synchronous motor and considering the coupling moment,gas flow impact and friction moment,the nonlinear dynamic model of the two axis coupling of the position servo system of the launching device is further established.3.In view of the parameter uncertainty and model uncertainty nonlinearity in the transmitter,the adaptive robust control strategy based on the transmitter model is studied.In view of the strong disturbance time-varying nonlinearity in the transmitting system,an adaptive robust composite control strategy based on disturbance estimation is designed.It can reduce the damage of strong disturbance and time-varying nonlinearity to the control performance,and improve the control accuracy and performance of the launch system.4.Many controllers are designed using the full state feedback control method,but in the real launch system,the state speed is difficult to obtain.The state observer is designed to estimate the state variables.For the state variables in the system,the practicability of the designed controller is improved.Considering the time-varying nonlinear parameters in the harsh environment of the launch device,the controller is designed.5.Through theoretical analysis and simulation,the effectiveness of the control algorithm of the transmitter designed in this paper is verified.The experimental study further verifies the control method and simulation results,and provides experimental basis for the follow-up study of the servo control system of the launch device.