Research On Pitching Control Algorithm Of Vehicle Unbalanced Barrel

In complex road conditions,the rapid and stable positioning of the tank barrel is affected by road surface fluctuations.Additionally,the increasing caliber and length of the barrel result in an increasing unbalanced mass,exacerbating the unbalanced characteristics and making it more difficult to achieve high-performance control.Therefore,this paper focuses on the study of the intelligent control strategy for the unbalanced barrel electro-hydraulic servo system,aiming to design a strategy that enables fast and precise positioning with good anti-interference performance,meeting the practical requirements of rapid and stable positioning of the unbalanced barrel.The main contents of this paper are as follows:Firstly,the composition and working principle of the unbalanced barrel electro-hydraulic servo system are analyzed.Mathematical models,transfer function block diagrams,and state-space models of the electro-hydraulic servo system are established.Based on the road surface roughness level,a road surface fluctuation model is constructed to simulate the complex road conditions in practical scenarios,laying a foundation for studying the rapid and stable positioning of the unbalanced barrel in complex road environments.Secondly,considering the motion characteristics of the unbalanced barrel,a proportional-integral-derivative(PID)controller is designed as the core of the system control.Control simulation analysis is conducted,and the results show that the unbalanced barrel controlled by the PID controller exhibits inferior dynamic and steady-state performance compared to the expected performance indicators,failing to meet the requirements.To improve the controller performance,the particle swarm optimization(PSO)algorithm is employed to optimize the parameters of the PID controller.Simulation results demonstrate that the dynamic performance of the unbalanced barrel system using the PSO-PID controller is improved,but the steady-state performance still falls short of the expected performance indicators.Furthermore,to further optimize the controller performance,a composite controller combining model reference adaptive control(MRAC)and PSO-PID control is designed.The parameters of the PSO-PID controller are dynamically adjusted in real-time to achieve optimal control.Simulation results show that the MRAC-PSO-PID controller can be dynamically adjusted online,effectively improving the steady-state performance of the unbalanced barrel servo system.To further demonstrate the feasibility and robustness of the controller,multiple sets of simulation experiments are conducted by modifying parameters such as gravitational torque and viscous damping of the unbalanced barrel servo system.The results indicate that the dynamic and steady-state performance of the unbalanced barrel servo system under the action of the MRAC-PSO-PID controller is satisfactory,meeting the expected performance indicators and exhibiting good robustness.Finally,a hardware platform is built,consisting of STM32,conditioning circuit,servo amplifier,electro-hydraulic servo valve,sensors,etc.The system testing software is designed and developed based on the LabWindows/CVI platform,including functions such as login,parameter adjustment,testing,data acquisition,data display,and data storage.Partial experimental research is conducted on the established experimental platform,validating the feasibility of the algorithm.