某箱式多管火箭炮快速装填与高精度自动操瞄系统研究
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摘要
为适应多管火箭炮的发展和现代战争的要求，本论文以提高多管火箭炮机动性能、精确打击能力为出发点，以多管火箭炮快速装填和高精度自动操瞄为研究对象，运用系统设计、理论分析、计算机仿真以及实验研究等手段，分别将现代电液比例控制技术与非线性滑模变结构控制理论应用于箱式多管火箭炮快速装填与高精度自动操瞄系统，有效地提高了多管火箭炮的自动装填速度与精度，满足了多管火箭炮位置伺服系统在强干扰、参数大范围变化等情况下的调炮精度与跟踪精度。
针对多管火箭炮装填速度与装填可靠性之间的矛盾和难题，提出了采用箱式发射技术实现多管火箭炮整箱装填的设计方案，较全面地研究了该装填系统涉及到的技术难点，通过基于PLC控制的电液比例技术解决了液压缸快速运行与高精度定位之间的矛盾，采用气动系统实现了装填各过程之间运发箱的可靠换接与锁紧，利用触摸屏技术实现了装填过程运发箱的程序化动作与系统运行的可视化。
详细地分析了多管火箭炮位置伺服系统负载特性，对其参数变化规律与负载力矩作用规律进行了定性分析与定量计算。在此基础上对整个多管火箭炮系统驱动控制部分进行了设计，提出了多管火箭炮交流位置伺服控制方案，并推导了其数学模型。
提出了多管火箭炮交流位置系统速度位置统一滑模控制策略，将带积分项的最优化滑模变结构控制策略应用于多管火箭炮高精度自动操瞄系统并进行了应用设计，通过理论分析证明了该控制策略可以有效提高多管火箭炮在参数变化与干扰作用下的控制精度，并通过计算机仿真证实了该方法的鲁棒性。考虑到变结构控制的切换控制特性及控制滞后，抖振的存在将严重影响系统的实际应用，论文通过设计干扰观测器并对电流输入进行前馈补偿来消弱切换控制的幅值，从而有效消弱滑模变结构控制的抖振，通过计算机仿真证实了该方法的有效性。解决了多管火箭炮位置伺服系统参数大范围变化、存在强干扰力矩与高精度调炮之间的矛盾。
提出了多管火箭炮交流位置系统串级复合控制策略，将电流控制、速度控制和位置控制分开进行并组成三环串级控制结构，通过PI控制、前馈控制、滑模控制的有效组合系统而详细地研究了四种串级复合控制结构，以前馈控制来消除动态跟踪的位置误差，以滑模控制的运用来提高系统在参数摄动与干扰作用下系统动态跟踪的鲁棒性能。针对串级滑模控制的抖振现象，通过积分环节以及复合控制有效消弱了串级滑模控制的抖振，并最终通过计算机仿真得到了有效验证。解决了多管火箭炮位置伺服系统参数大范围变化、存在强干扰力矩与高精度动态跟踪目标的难题。
最后对全系统进行了样机实验研究，对快速装填装置进行了装填速度、装填时间以及各种装填方式运行平稳性与可靠性实验，实验结果表明该快速装填系统不仅有效的实现了设计指标，且其装填可靠性较高。对自动操瞄系统进行了经典控制、复合前馈控制、以及复合滑模控制实验，通过实验研究不仅有效证实了系统设计指标的实现，同时证实了系统设计方案的正确性以及控制算法的有效性，为系统的进一步样机制作提供了可借鉴的理论指导。
To cater for the development of multiple rocket launcher (MRL) and the demand ofmodern warfare, the present dissertation starts from the endeavor to meliorate themaneuverability and the precision strike capability of MRL and tackles the problems of itsrapid loading and its highly precise automatic operating & aiming system. By means ofsystem design, theoretical analysis, computer simulation and experimental research, etc.,the dissertation applies the contemporary electro-hydraulic proportion control technologyand non-linear sliding mode variable structure control(VSC) theory to the rapid loader andthe high precision automatic operating & aiming system of a certain container rocketlauncher. This results in an improvement of the loading speed and accuracy of MRL by abig margin and makes it possible to ensure the positioning and tracking accuracy when theMRL positioning servo-system is under such circumstances of strong disturbance and widerange of parametric variation.
The dissertation sets forth the design scenario of holistic container loading usingcontainer fire technology against the contradiction between the MRL loading speed andreliability; and carries out a three-dimensional study of the tough points that the loadingsystem covers; nullifies the contradiction between the fast movement of the hydro-cylinderand the highly accurate positioning by way of the PLC-based electro-hydraulic proportioncontrol technology; realizes the reliable shift and locking of the container usingpneumatic system; and realizes the programmed actions of the container and thevisualization of the system operation in the loading process using the touch-screentechnology.
In the dissertation, the author conducts a detailed analysis of the load characteristics ofthe MRL positioning servo-system and a qualitative analysis and a quantitative computationof the laws of its parametric change and load moment actuation; and designs on this basisthe drive controller of the MRL system and puts forward the control scheme of the MRLAC positioning servo-system.
The dissertation puts forward the unified slide mode control scheme of the velocityloop and position loop in the MRL AC position servo-system and applies the optimal slidemode VSC with integral to the effort of the applied design of MRL high precisionautomatic operating & aiming system; testifies by theoretical analysis that the controlscheme may well enhance the control accuracy of MRL in the circumstances of theparametric change and disturbance; and validates the robustness of the method viacomputer simulation. In the view of switch control characteristic of VSC and control retardation, the existence of chattering inflicts a notable adverse effect upon the systemactual application. The dissertation designs the disturbance observation and conductsfeed-forward compensation to weaken the switch control amplitude and thus weakens thechattering of the slide mode VSC; and verifies its validity via the computer simulation. As aresult, the contradiction is nullified between the MRL positioning servo-system's widerange of parametric variation, the existence of strong disturbance moment and the highlyprecise gun positioning.
The dissertation puts forward the cascade compound control scheme of velocity loop andposition loop for the MRL AC positioning servo-system. This scheme makes it possible toactuates the current control, velocity control and position control separately and toconstitute a three-loop cascade control structure; studies systematically in detail the fourtypes of the cascade compound control structure via the valid combinations of the PIcontrol, feed forward control and slide mode control; zeros the positioning error in dynamictracking by the feed forward control; and levels up the robustness of the system in dynamictracking in the circumstances of the parametric variations and disturbance by way of theslide mode control. Against the chattering of the cascade slide mode control, thedissertation weakens effectively it via the integral and compound control, whose validity istestified finally via computer simulation; and thus solves the problems of the MRLpositioning servo-system wide range of parametric variation, the existence ofstrong-disturbance moment and the highly accurate dynamic tracking of the target.
Finally, the dissertation conducts a model machine experimental research on the entiresystem and an experimentation on the loading speed, the loading time span, the operationalstability and reliability of the varied loading modes. The results of the experimentationshows that this loading system has not only realized the designed objective, but alsoachieved high reliability of loading; an experimentation of the automatic operating &aiming system in terms of classical control, compound feed forward control and compoundslide mode control. The experimental research proves effectively that the designed indexesof the system are reached and at the same time correctness of the system design scheme andthe effectiveness of the control arithmetic. In result, the instructive theoretical directions aremade possible for the further manufacturing of the system model machine.
针对多管火箭炮装填速度与装填可靠性之间的矛盾和难题，提出了采用箱式发射技术实现多管火箭炮整箱装填的设计方案，较全面地研究了该装填系统涉及到的技术难点，通过基于PLC控制的电液比例技术解决了液压缸快速运行与高精度定位之间的矛盾，采用气动系统实现了装填各过程之间运发箱的可靠换接与锁紧，利用触摸屏技术实现了装填过程运发箱的程序化动作与系统运行的可视化。
详细地分析了多管火箭炮位置伺服系统负载特性，对其参数变化规律与负载力矩作用规律进行了定性分析与定量计算。在此基础上对整个多管火箭炮系统驱动控制部分进行了设计，提出了多管火箭炮交流位置伺服控制方案，并推导了其数学模型。
提出了多管火箭炮交流位置系统速度位置统一滑模控制策略，将带积分项的最优化滑模变结构控制策略应用于多管火箭炮高精度自动操瞄系统并进行了应用设计，通过理论分析证明了该控制策略可以有效提高多管火箭炮在参数变化与干扰作用下的控制精度，并通过计算机仿真证实了该方法的鲁棒性。考虑到变结构控制的切换控制特性及控制滞后，抖振的存在将严重影响系统的实际应用，论文通过设计干扰观测器并对电流输入进行前馈补偿来消弱切换控制的幅值，从而有效消弱滑模变结构控制的抖振，通过计算机仿真证实了该方法的有效性。解决了多管火箭炮位置伺服系统参数大范围变化、存在强干扰力矩与高精度调炮之间的矛盾。
提出了多管火箭炮交流位置系统串级复合控制策略，将电流控制、速度控制和位置控制分开进行并组成三环串级控制结构，通过PI控制、前馈控制、滑模控制的有效组合系统而详细地研究了四种串级复合控制结构，以前馈控制来消除动态跟踪的位置误差，以滑模控制的运用来提高系统在参数摄动与干扰作用下系统动态跟踪的鲁棒性能。针对串级滑模控制的抖振现象，通过积分环节以及复合控制有效消弱了串级滑模控制的抖振，并最终通过计算机仿真得到了有效验证。解决了多管火箭炮位置伺服系统参数大范围变化、存在强干扰力矩与高精度动态跟踪目标的难题。
最后对全系统进行了样机实验研究，对快速装填装置进行了装填速度、装填时间以及各种装填方式运行平稳性与可靠性实验，实验结果表明该快速装填系统不仅有效的实现了设计指标，且其装填可靠性较高。对自动操瞄系统进行了经典控制、复合前馈控制、以及复合滑模控制实验，通过实验研究不仅有效证实了系统设计指标的实现，同时证实了系统设计方案的正确性以及控制算法的有效性，为系统的进一步样机制作提供了可借鉴的理论指导。
To cater for the development of multiple rocket launcher (MRL) and the demand ofmodern warfare, the present dissertation starts from the endeavor to meliorate themaneuverability and the precision strike capability of MRL and tackles the problems of itsrapid loading and its highly precise automatic operating & aiming system. By means ofsystem design, theoretical analysis, computer simulation and experimental research, etc.,the dissertation applies the contemporary electro-hydraulic proportion control technologyand non-linear sliding mode variable structure control(VSC) theory to the rapid loader andthe high precision automatic operating & aiming system of a certain container rocketlauncher. This results in an improvement of the loading speed and accuracy of MRL by abig margin and makes it possible to ensure the positioning and tracking accuracy when theMRL positioning servo-system is under such circumstances of strong disturbance and widerange of parametric variation.
The dissertation sets forth the design scenario of holistic container loading usingcontainer fire technology against the contradiction between the MRL loading speed andreliability; and carries out a three-dimensional study of the tough points that the loadingsystem covers; nullifies the contradiction between the fast movement of the hydro-cylinderand the highly accurate positioning by way of the PLC-based electro-hydraulic proportioncontrol technology; realizes the reliable shift and locking of the container usingpneumatic system; and realizes the programmed actions of the container and thevisualization of the system operation in the loading process using the touch-screentechnology.
In the dissertation, the author conducts a detailed analysis of the load characteristics ofthe MRL positioning servo-system and a qualitative analysis and a quantitative computationof the laws of its parametric change and load moment actuation; and designs on this basisthe drive controller of the MRL system and puts forward the control scheme of the MRLAC positioning servo-system.
The dissertation puts forward the unified slide mode control scheme of the velocityloop and position loop in the MRL AC position servo-system and applies the optimal slidemode VSC with integral to the effort of the applied design of MRL high precisionautomatic operating & aiming system; testifies by theoretical analysis that the controlscheme may well enhance the control accuracy of MRL in the circumstances of theparametric change and disturbance; and validates the robustness of the method viacomputer simulation. In the view of switch control characteristic of VSC and control retardation, the existence of chattering inflicts a notable adverse effect upon the systemactual application. The dissertation designs the disturbance observation and conductsfeed-forward compensation to weaken the switch control amplitude and thus weakens thechattering of the slide mode VSC; and verifies its validity via the computer simulation. As aresult, the contradiction is nullified between the MRL positioning servo-system's widerange of parametric variation, the existence of strong disturbance moment and the highlyprecise gun positioning.
The dissertation puts forward the cascade compound control scheme of velocity loop andposition loop for the MRL AC positioning servo-system. This scheme makes it possible toactuates the current control, velocity control and position control separately and toconstitute a three-loop cascade control structure; studies systematically in detail the fourtypes of the cascade compound control structure via the valid combinations of the PIcontrol, feed forward control and slide mode control; zeros the positioning error in dynamictracking by the feed forward control; and levels up the robustness of the system in dynamictracking in the circumstances of the parametric variations and disturbance by way of theslide mode control. Against the chattering of the cascade slide mode control, thedissertation weakens effectively it via the integral and compound control, whose validity istestified finally via computer simulation; and thus solves the problems of the MRLpositioning servo-system wide range of parametric variation, the existence ofstrong-disturbance moment and the highly accurate dynamic tracking of the target.
Finally, the dissertation conducts a model machine experimental research on the entiresystem and an experimentation on the loading speed, the loading time span, the operationalstability and reliability of the varied loading modes. The results of the experimentationshows that this loading system has not only realized the designed objective, but alsoachieved high reliability of loading; an experimentation of the automatic operating &aiming system in terms of classical control, compound feed forward control and compoundslide mode control. The experimental research proves effectively that the designed indexesof the system are reached and at the same time correctness of the system design scheme andthe effectiveness of the control arithmetic. In result, the instructive theoretical directions aremade possible for the further manufacturing of the system model machine.
引文
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