火炮俯仰电液伺服系统速度非线性抑制技术研究  

Research on Velocity Nonlinear Suppression Technology of Gun Pitching Electro-hydraulic Servo System

作　　者：代普[1] 潘军[1] 马晴[2] 刘妙[1] DAI Pu;PAN Jun;MA Qing;LIU Miao(North-west Institute of Mechanical and Electrical Engineering, Xianyang 712099,Shaanxi,China;Xianyang Normal University,Xianyang 712099,Shaanxi, China)

机构地区：[1]西北机电工程研究所,陕西咸阳712099 [2]咸阳师范学院,陕西咸阳712099

出　　处：《兵工学报》2022年第6期1246-1254,共9页Acta Armamentarii

摘　　要：火炮俯仰电液伺服系统因其特殊结构存在严重的速度非线性,这一特征不但导致系统在不同角度区间等幅调转时间不同,也严重影响系统的动态跟踪性能。在剖析俯仰电液伺服系统原理基础上,建立俯仰伺服系统运动的数学模型,获取俯仰电液伺服系统的非线性运动规律,提出俯仰电液伺服系统速度非线性的抑制方法,通过引入非线性观测及非线性补偿环节,较好地抑制了俯仰电液系统的速度非线性特性,改善了系统的控制特性。仿真及样机实验结果表明:该方法具有良好的控制效果,可对位置环输出的速度主令到俯仰体旋转速度主令的非线性进行较好的抑制,实现位置环输出的速度主令到俯仰体旋转速度主令的线性化,从而显著改善火炮俯仰电液伺服系统的调转及动态跟踪性能。Due to its special structure,the electro-hydraulic servo system of gun pitch has serious velocity nonlinearity,which not only leads to different equal amplitude rotation time in different angle intervals,but also seriously affects the dynamic tracking performance of the system.Based on the analysis of the principle of pitching electro-hydraulic servo system,the mathematical model of pitching servo system motion is established,the nonlinear motion law of pitching electro-hydraulic servo system is obtained,and the suppression method of velocity nonlinearity of pitching electro-hydraulic servo system is proposed.By introducing nonlinear observation and nonlinear compensation links,the velocity nonlinearity of pitching electro-hydraulic system is well suppressed,The control characteristics of the system are improved.The simulation and prototype experimental results show that this method has good control effect,can suppress the nonlinearity from the speed master output by the position loop to the rotation speed master of the pitching body,and realize the linearization from the speed master output by the position loop to the rotation speed master of the pitching body,so as to significantly improve the rotation and dynamic tracking performance of the artillery pitching electro-hydraulic servo system.

关 键 词：火炮 俯仰 电液伺服系统 非线性抑制 

分 类 号：TJ3[兵器科学与技术—火炮、自动武器与弹药工程]