行进间火炮指向稳定跟踪系统建模与控制  

Modeling and Control of Pointing-stabilizing-tracking System for Marching Guns

作　　者：李伟[1] 姜俊峰 任海波[1] 张光辉[1] LI Wei;JIANG Jun-feng;REN Hai-bo;ZHANG Guang-hui(Northwest Institute of Mechanical and Electrical Engineering,Xi＇an 712099,Shaanxi,China;Zhejiang Province Key Laboratory of Advanced Manufacturing Technology,Zhejiang University,Hangzhou 310027,Zhejiang,China)

机构地区：[1]西北机电工程研究所,陕西西安712099 [2]浙江大学浙江省先进制造技术重点实验室,浙江杭州310027

出　　处：《兵工学报》2018年第8期1479-1490,共12页Acta Armamentarii

摘　　要：为使行进间火炮指向具备高射角条件下的稳定跟踪能力,提出了一种采用捷联惯性导航系统(SINS)测量火炮身管轴线指向,同时测量火炮身管运动角速率,完成火炮在大地坐标系下的稳定跟踪控制方法。稳定系统采用传统的三环控制,将系统的位置环和速度稳定环的主令和反馈都统一至大地坐标系下,SINS作为系统的位置环反馈,其航向和姿态测量值基于大地坐标系下完成解算。将安装在火炮上的SINS陀螺组测量值转换至大地坐标系下的火炮方位回转角速率和高低俯仰角速率,并乘以各自传动机构的传动比后,作为速率稳定环的反馈,实现速率稳定控制。考虑炮塔、火炮回转中心与重心不重合、载体处于六自由度运动状态等因素,采用Lagrange方法建立火炮、炮塔与载体之间动力学耦合模型,结合SINS测量模型、双电机拖动和电机伺服系统控制模型,对该控制方案进行了仿真验证。验证结果表明,火炮指向稳定跟踪系统实现方位和高低两个通道独立控制,使火炮指向在高角下保持高精度的稳定控制,在一定射角范围内具有良好跟踪性能,能够克服较宽频带载体姿态干扰,明显优于传统高炮位置解算式稳定。A stabilizing and tracking control strategy of using a strapdown inertial navigation system（ SINS） to measure the pointing direction and angular rate of gun barrel is proposed to enable the marching guns to track targets and stabilize at a large fire angle,in which the stabilizing and tracking control are accomplished in the geodetic coordinate system. The conventional three-loop control is applied and improved,and the reference and feedback values of position loop and velocity stabilization loop are given in the geodetic coordinate system. As the position feedback,the azimuth and pitch angular rates of SINS are resolved based on the geodetic coordinate system. The measured values of gyros in SINS mounted on the gun are transformed to the azimuth and pitch angular rates in the geodetic coordinate system,and re multiplied by the drive ratios of drive mechanisms as the feedback of velocity stabilization loop. A dynamic coupling model of gun,turret and carrier is established using Lagrange equation in consideration that the rotary center of turret and carrier is misaligned,and the carrier moves in six degrees of freedom.The simulation validation of the proposed control scheme is conducted based on SINS measurement model,two-motor drive model and control model of motor servo system. The result shows that the two-channel independent control,the high-accurate stabilizing control of pointing direction of gun at a large fire angle,the high tracking performance in a certain range of firing angle,and the isolation of wider frequency band disturbance from carrier can be realized.

关 键 词：火炮指向 稳定跟踪 捷联惯性导航系统 LAGRANGE方法 动力学耦合 双电机拖动 

分 类 号：TJ303.8[兵器科学与技术—火炮、自动武器与弹药工程]