弹药运输车恒稳控制系统的设计  

Design of Constant Stability Control System for Ammunition Transport Vehicle

作　　者：张小明 王坤坤 于纪言[1] ZHANG Xiaoming;WANG Kunkun;YU Jiyan(School of Mechanical Engineering, Nanjing University of Science & Technology, Nanjing 210094, China;School of Energy and Electric, Hehai University, Nanjing 211100, China)

机构地区：[1]南京理工大学机械工程学院,南京210094 [2]河海大学能源与电气学院,南京211100

出　　处：《兵器装备工程学报》2020年第4期15-19,共5页Journal of Ordnance Equipment Engineering

基　　金：国家自然科学基金项目(11402121)。

摘　　要：针对弹药近距离运输过程中弹体之间存在碰撞摩擦等情况,为了提高运输的稳定性和安全性,提出了基于模糊自适应参数整定PID控制方法的小型弹药恒稳运输平台设计方法。控制系统以某型嵌入式单片机内核,加入一阶低通滤波算法,可以实时跟随地形变化,控制参数自整定,使平台的弹药舱始终保持水平姿态。在Simulink中搭建控制系统的模型,用干扰信号模拟地形变化,分析其阶跃响应情况,并用样机实物进行复杂路况实测。实验结果表明,在模糊自适应参数整定PID控制下,运输平台弹药舱能够始终保持几乎无波动的水平姿态,角度响应速度快,路况适应能力强,稳定性高。In order to improve the stability and safety of the transportation of the ammunition by manpower or other vehicles,the small ammunition constant stability based on the fuzzy adaptive parameter tuning PID control method was proposed.The control system took STM32F407 as the core and added first-order low-pass filtering,which can follow the terrain changes in real time and control parameter self-tuning,so that the ammunition cabin of the platform always maintains a horizontal attitude.The model of the control system was built in Simulink,and the terrain change was simulated by the interference signal,and then we analyzed the step response.The prototype was tested in the complex road conditions.The experimental results show that under the fuzzy adaptive parameter tuning PID control,the transport platform ammunition cabin can maintain a almost non-fluctuating horizontal attitude,with which the angle response speed is fast and has strong road adaptability and high stability.

关 键 词：弹体碰撞摩擦 模糊自适应PID控制 一阶低通滤波 恒稳运输 SIMULINK 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]