Research On The Tracking System Of A Shipborne Rocket Launcher Based On ITA

This paper takes shipborne rocket launchers as the subject,aiming to improve the launch accuracy and dynamic tracking performance of rocket launchers.The working environment of ship-based rocket launchers is complex and changeable.In addition to the swaying motion of the ship,there are also load disturbances such as the impact moment generated during launch and the nonlinear friction during tracking.Therefore,it is necessary to deeply understand the structure and working principle of the rocket launcher,analyze in detail the nonlinear factors in the rocket launcher’s working process.First,the composition structure and working principle of the rocket follower system are analyzed;in view of the multi-variable,fast time-varying,strong coupling,and nonlinear characteristics of the AC synchronous motor,the coordinate transformation is used to obtain the model in the axis coordinate system to realize the torque and The decoupling control of the flux linkage finally converts the torque control of the motor into the current control of the direct axis and the quadrature axis.Through the vector control method,the mathematical model of the synchronous motor is established.Using the method of internal and external,loop-by-loop design,design and model each transfer function of the current loop and velocity loop of the shipborne rocket launcher AC servo system.Secondly,according to the performance index of ITAE,the best transfer function of ITAE is formed.According to the performance requirements of the shipborne rocket launcher,the ITAE optimal type III controller is proposed and the controller is designed.Aiming at the slow time change of the system structure parameters,the system identification method is adopted to auto-tune the position controller parameters.In order to test the anti-interference ability of the system,load disturbance is added to make the performance of the system worse,and disturbance observer is used for disturbance compensation.With the development of weapon automation and intelligence,the visualized operation interface occupies an increasingly important position in the weapon system,and the host computer system of the shipborne rocket launcher has been designed.The development of this host computer software is based on the Qt framework,using multi-threading technology to make the main interface respond faster to operating commands.Through long-term operation,the host computer system works reliably and has been successfully applied to the shipborne rocket launcher system.A semi-physical test platform was built in the laboratory to test the performance of the controller.The experimental results show that the system has good response speed,steady-state error and tracking accuracy,and is not sensitive to changes in system structural parameters.There is still a difference between the test bench environment and the real rocket launcher system.I was fortunate to participate in the development of a certain type of shipborne weapon.I took this opportunity to conduct a physical test.The on-site debugging results and the test bench results are not much different,indicating that the designed controller is reliable.