Research On The Control Of Ammunition Loading Manipulator Based On Mode

The ammunition loading manipulator is an important part of the gun ammunition automatic loading system,which plays an important role in the ammunition loading process.Its control performance will directly affect the speed,power,reliability and security of the ammunition automatic loading system.As one of the important subsystems of artillery,its structure is complex,its service environment is diverse,its working conditions are bad,and its control performance is strictly required,which requires it to have high positioning control accuracy.Therefore,aiming at the control problem of gun ammunition loading manipulator,it is of great significance to study the dynamic model and control strategy applicable to ammunition loading manipulator,which can improve the control positioning accuracy and work reliability of ammunition automatic loading system in service environment.The main research contents of this thesis include the following points:(1)The system composition,working principle,workflow and control performance requirements of the ammunition loading manipulator are introduced in detail.Through the analysis of the mechanical system and electrical system of the ammunition loading manipulator,the corresponding dynamic equation is established,and the state equation of the system is deduced.(2)The virtual prototype of ammunition loading manipulator was established by USING CREO and ADAMS software and the model was verified;On this basis,PD control simulation based on ADAMS and PID control co-simulation based on ADAMs-MATLAB are adopted,and the simulation results are analyzed to further verify the effectiveness of the virtual prototype of ammunition loading manipulator,which provides a basis for the subsequent control strategy design.(3)The simulation model of the ammunition loading manipulator control system was built by MATLAB/Simulink software.Based on the adaptive sliding mode control strategy,the adaptive law was designed to ensure the parameter change of the system and a new approach law was designed to improve the quality of approaching motion and weaken chattering phenomenon.Finally,an adaptive sliding mode control strategy considering nonlinear friction compensation is designed,which effectively compensates the nonlinear friction of the system and improves the positioning control accuracy.(4)The designed adaptive sliding mode control strategy based on the new approach law is applied to the ammunition loading manipulator test platform,and the corresponding control program is written to test and verify the designed control strategy.The experimental results show that the designed control strategy can meet the working requirements of the ammunition loading manipulator.