Research On The Control System Of Anti-frogman Rocket Launcher Based On Unattended Platfor

Unattended rocket can be used as one of the near zone defense weapons of surface ships,islands,reefs and ports to intercept the enemy frogman troops and ensure the safety of our units.Therefore,the research on the control system of unattended rocket is of great significance.Taking an unattended rocket control system project as the background,taking the high-precision control of the servo system as the main research content,in order to realize the long-distance real-time communication of the servo system and the high-precision tracking of the observation position signal,this paper studies the can optical fiber communication network and the rocket AC servo control system.The research work of this paper is mainly reflected in the following aspects:(1)The research content is the overall design scheme of anti frogman rocket control system based on unattended platform.It includes the design and real-time analysis of the communication network of the servo system,and the research of the control strategy of the multi servo control system.The PMSM model is derived based on vector method,and the mathematical model of rocket position servo system is established.Many nonlinear characteristics of rocket position servo system are analyzed.(2)The principle of CAN communication is analyzed,the physical layer is changed,and the optical fiber is selected as the signal transmission medium.Combining the advantages of CAN bus and optical fiber,a CAN bus hub is designed.The optical fiber is used as the signal transmission medium to complete the long-distance transmission of can signal.The network delay of can optical fiber communication is analyzed and compared with the previous communication network.(3)An immune clonal particle swarm optimization ADRC is designed.The traditional fal function in ESO is improved to make its curve smoother and suppress the generation of high-frequency tremor;The stability of ESO and closed-loop system is analyzed and proved;The improved particle swarm optimization algorithm is introduced into the ADRC to adjust the key coefficients in the extended state observer on-line,so that the performance of the improved position loop ADRC is better;At the same time,it is compared with the typical ADRC,and the simulation results are analyzed.(4)Build a hardware in the loop simulation platform for an unattended rocket launcher.Taking two rocket launcher servo systems as examples,the ADRC strategy designed in this paper is verified by high-low control.The results show that the communication network designed in this paper has low delay and high real-time performance.The control strategy makes the system response rate and steady-state performance better,and improves the dynamic quality of the system.