Research On Parameter Optimization And Control Strategy Of An Artillery Projectile Coordinator

This dissertation takes the projectile coordinated manipulator of artillery as the research object.The two aspects of structure and control are taken as the entry points.Among them,two methods of parameter optimization design and control strategy design are used to carry out collaborative design research on the projectile coordinated manipulator to improve the comprehensive motion performance of the system.The research content of this dissertation includes the following aspects:(1)The structure and work flow of the projectile coordinated manipulator in an artillery are introduced,and the dynamics and system characteristics of each subsystem of the projectile coordinated manipulator are analyzed.On the basis of system analysis,the mathematical model of the system is constructed,and then the state space equation of the system is derived.A projectile coordinated manipulator simulation model is established based on AMESim.On this simulation model,an integrated optimization platform based on Isight and AMESim,and a cosimulation platform based on Simulink and AMESim are established.(2)The relevant theories of optimal design are summarized.The key system parameters that affect the driving force of the cylinder are determined by the experimental design analysis method.In order to improve the smoothness of the coordinated manipulator movement,a deterministic optimization model with reducing the maximum value of the driving force of the cylinder as the optimization objective is established,and after optimization,better optimization results were obtained.Considering the random fluctuation of parameters,the normal distribution of random parameters is introduced,and the 6 Sigma robust optimization model is established for robust optimization.Compared with deterministic optimization,the robust optimization scheme has higher robustness while improving the motion performance of the coordinated manipulator.(3)The mixed differentiator is used to obtain the angular velocity signal of the coordinated manipulator.Combined backstepping design method and adaptive control technology,and then the parameter adaptive backstepping control strategy is designed.Among them,the uncertain parameters of the model are estimated by the adaptive algorithm,which can simplify the structure of the control strategy,and the robust term improves the robustness of the system,so as to obtain a better position control effect.Combined with fuzzy control technology,the parameter adaptive fuzzy backstepping control strategy is designed,which effectively compensates the system's nonlinear input dead-zone and improves the steady-state positioning accuracy.(4)The control program of the parameter adaptive backstepping control strategy is written and applied to the projectile coordinated manipulator experimental platform.It is verified by experiments that the designed control strategy can be effectively applied to the projectile coordinated manipulator system.