采用电动缸的火炮随动系统位置控制研究  

Research on Position Control of Electric Cylinder Servo System

作　　者：胡鑫[1] 赵昕[1] 李伟[1] 靳小军[1] HU Xin;ZHAO Xin;LI Wei;JIN Xiaojun(Northwest Institute of Mechanical & Electrical Engineering, Xianyang 712099, China)

机构地区：[1]西北机电工程研究所,陕西咸阳712099

出　　处：《兵器装备工程学报》2021年第1期245-248,258,共5页Journal of Ordnance Equipment Engineering

基　　金：海军武器装备预先研究项目(3020801010209)。

摘　　要：针对电动缸带来的速比非线性导致随动系统快速性和精度之间难以匹配,建立了火炮身管的运动学模型和动力学模型,提出了一种变系数误差平方根和带前馈的PID分段控制策略,利用火炮身管的运动学模型和动力学模型计算误差平方根的控制系数,将该控制方法应用于随动系统的位置控制器设计中。实验结果表明:变系数误差平方根和带前馈的PID分段控制策略对于采用电动缸作为传动机构的火炮随动系统,能够获得较高的定位精度和跟踪精度,系统快速性好,超调量小,具有工程实用性。Aiming at the problem that the speed ratio nonlinearity caused by the electric cylinder makes it difficult to match the rapidity and precision of the servo system,the kinematics and dynamics models of the gun barrel were established,a Variable Coefficient Error Square Root and PID with feedforward subsection control strategy was proposed.The control coefficient of variable coefficient error square root was calculated by using the kinematics and dynamics model of gun barrel,the control method was applied to the position controller design of servo system.The experimental results show that the variable coefficient error square root and PID with feedforward subsection control strategy can achieve better positioning accuracy and tracking accuracy,and the system has good rapidity and small overshoot when the electric cylinder was used as the driving mechanism of the gun servo system.The variable coefficient error square root and PID with feedforward subsection control strategy has engineering practicality.

关 键 词：电动缸 火炮 随动系统 非线性 位置控制 

分 类 号：TJ30[兵器科学与技术—火炮、自动武器与弹药工程] TP273[自动化与计算机技术—检测技术与自动化装置]