基于重型非平衡身管的同源平衡和快速跟踪控制方法研究

The dynamic performance of the heavy artillery barrel control system has a direct effect on the firing accuracy of the long-range artillery weapon system, and has a great effect on the improvement of the artillery weapon’s rapid reaction capability. Aiming at the problem of high precision fast track and difficult to achieve active balance for heavy non-equilibrium barrel in the current researches, a new method for balancing and fast tracking with the mechanical and electrical servo is proposed in this project, which can be shown as follows: by introducing the non-equilibrium moment compensation at the input end of the drive current loop, the non-equilibrium disturbance generated by the barrel movement is suppressed in real time. A time-frequency-domain fractional order hybrid adaptive wavelet active disturbance rejection controller is designed to realize fast and accurate tracking of the barrel. By means of theoretical analysis, numerical simulation and experimental test, an electromechanical servo system is developed for the active balance and synchronous fast tracking of non-equilibrium barrel. According to the motion characteristics of the non-equilibrium barrel, the optimal determination method of the trajectory of the barrel with multi-objective performance is studied. The precise description method and adaptive control strategy of the intrinsic complex nonlinear characteristics in the barrel movement are shown. Moreover, the realization of this project will provide theoretical foundations and technical support for the heavy machinery arms control.

重型火炮身管控制系统的动态性能对远程火炮武器系统射击准确度有着直接的影响，对火炮快速反应能力的提升有着巨大作用。本项目针对重型非平衡身管在工作中存在难以实现主动平衡及高精度快速跟踪等问题，拟研究一种基于机电伺服系统的身管同源平衡及快速跟踪控制方法。通过在驱动器电流环的输入端引入非平衡力矩补偿，来实时抑制身管运动产生的非平衡扰动；设计一种时频域分数阶混合自适应小波神经自抗扰学习控制器，实现身管的快速精准跟踪。采用理论分析、数值模拟与实验测试相结合的方法，研发用于非平衡身管主动平衡及同步快速跟踪的机电伺服系统；针对非平衡身管的运动特征，研究多目标性能约束下身管运动轨迹的最优确定方法；研究非平衡身管运动过程中内在复杂非线性特征的精确描述方法及其自适应控制策略。本项目的研究将为新型火力系统的设计和优化，以及具有类似长杆机构负载的机械臂运动控制，提供理论依托与应用技术支撑。

本项目针对重型非平衡身管在工作中存在诸多亟待解决的关键问题，提出了一种基于机电伺服系统的身管同源平衡及快速跟踪控制方法。通过在驱动器电流环的输入端引入非平衡力矩补偿，来实时抑制身管运动产生的非平衡扰动；采用理论分析、数值模拟与实验测试相结合的方法，研发了用于非平衡身管主动平衡及快速跟踪的交流伺服系统。针对身管同源平衡及跟踪系统存在的非线性和时变性因素，采用自适应模糊小波神经网络的辨识策略构建了系统精确的非线性模型；研究了一种基于Levenberg-Marquardt的模糊小波神经网络自学习控制器，实现了身管的快速精准跟踪。数值仿真及台架试验表明，当系统参数发生摄动时，相对于FWNN-LM控制，FWNN-LMPSO控制对参数摄动具有一定的鲁棒性；正弦跟踪时，FWNN-LMPSO控制的跟踪精度较FWNN-LM提高了约1.5倍，且能够更好地抑制系统外部的扰动；平衡控制器可以实现重力矩的主动平衡。本项目的研究为新型火力系统的设计和优化，以及具有类似长杆机构负载的机械臂运动控制，提供理论依托与应用技术支撑。