高速机动与渐变耗损条件下车载非平衡身管俯仰伺服系统控制研究

Aiming at the requirements of high-speed, reliable, remote and precise of ground assault weapons, this paper researches on one kind of pitching servo system of vehicle carried and unbalanced barrel’s modeling and control under complicated conditions, which includes:Analyzing the action mechanism of road fluctuation and unbalanced gravity torque, establishing the model considering essential nonlinear of pitching servo system of vehicle carried and unbalanced barrel, and researching on the high-precision control method which satisfy system’s compact and lightweight requirements;Analyzing the influence mechanism of complicated conditions such as high maneuvering and gradual wearing, establishing the influence mechanism model of actual high-speed running and typical wearing behavior;Establishing the multi-body dynamic model of carrier chassis using virtual prototype technology, and establishing the coupled vertical dynamic model of carrier chassis and barrel pitching control system under complicated conditions; Using the control idea of biological immune and active disturbance rejection control(ADRC) to design a controller denoted as high performance immune ADRC, and researching on the control method of pitching servo system of vehicle carried and unbalanced barrel under complicated conditions.Based on the above work, the control experiment platform of the pitching servo system of vehicle carried and unbalanced barrel is developed, and the Effectiveness of control method proposed is validated by the swing system and actual vehicle carried multiple load cases experiments. Finishing the research work of the project can provide the theoretical and technical basis for new pitching servo system of vehicle carried and unbalanced barrel’s design and application.

针对未来战争对地面突击武器高速、可靠、远程、精确的需求，研究一类复杂条件下车载非平衡身管俯仰伺服系统的建模与控制问题，包括:分析路面波动与非平衡重力矩作用机理，建立考虑关键非线性的车载非平衡身管俯仰伺服系统模型，研究满足系统紧凑化与轻量化要求的高精度控制方法；分析高速机动与渐变耗损等复杂条件影响机理，建立实战高速运行与典型耗损行为的影响机理模型；采用虚拟样机技术建立载体底盘多体动力学模型，建立复杂条件下载体底盘与身管俯仰控制系统耦合的高低向动力学模型；采用自抗扰与生物免疫的控制思想设计高性能免疫自抗扰控制器，研究复杂条件下车载非平衡身管俯仰伺服系统控制方法。在上述工作基础上，研制车载非平衡身管俯仰伺服控制系统实验平台，通过摇摆台、实战车辆搭载下多工况实验验证所提控制方法的有效性。通过本项目的研究，为复杂条件下新型车载非平衡身管俯仰伺服控制系统的设计与应用提供理论和技术基础。

非平衡身管俯仰系统是车载武器的重要控制设备，复杂条件下非平衡身管的高精度伺服控制，决定了武器装备指向速度、命中概率等核心性能。然而，现有身管俯仰控制研究均是在静态环境下进行的，未涉及路面波动与渐变耗损条件的影响且控制精度不够理想。考虑紧凑化与轻量化要求，本项目建立路面波动、非平衡力矩等干扰的作用机理，设计针对性的干扰抑制措施并建立身管俯仰系统模型；建立路面等级变化、油液污染诱发的冲蚀磨损等渐变耗损行为影响机理模型，给出了复杂条件下系统核心参数性能劣化规律，进一步设计有效的复杂内、外扰动条件下身管俯仰系统高性能控制方法；搭建考虑路面波动、非平衡力矩等条件下身管俯仰实验平台可进行相关控制性能测试。由于具有控制精度高且易于实现工程应用的特点，本项目的研究产业化潜力较大。