Rotary Drive Design And Control For Rocket Weapons

With the development of national defense technology,the requirements for automation level and firing accuracy of weapon systems become higher and higher.In recent years,with the development of hydraulic technology,it has been widely used in rocket launch systems.The existence of backlash nonlinearity will affect the technical indicators and dynamic performance of the system to a certain extent.Therefore,this article focuses on the following aspects of the weapon azimuth rotation system:(1)The valve-controlled hydraulic motor drive method is adopted for the slewing system,and the hydraulic circuit is initially simulated and controlled using the method of cosimulation of AMESim and Matlab/Simulink.Then,a nonlinear mathematical model of the hydraulic slewing system is established,and the adaptive robust control strategy is used to improve the performance of the system on the basis of ensuring the stability of the system.(2)Backlash,as a typical nonlinear part in the system,not only make the system oscillate,but also affects the stability of the system.Therefore,it has important theoretical and engineering application value to study how to eliminate backlash.For the valve-controlled motor hydraulic system with backlash,a non-linear model is established and adaptive robust control strategy is adopted to effectively compensate the backlash in the system.(3)In order to show the backlash error and limit vibration caused by backlash to rotary system and transmission device more intuitively,the backlash is briefly introduced.According to the relationship between the gear center distance and the backlash,the backlash is simulated by changing the center distance,and the virtual prototype model of internal meshing gear transmission with backlash is established to observe the influence of backlash on the system.(4)This paper presents a method of clearance elimination of double hydraulic motors,and introduces the principle of clearance elimination,then uses Adams and Matlab/Simulink to build a co-simulation platform to verify the feasibility of the method.