轮式底盘耦合下导弹发射装置跟踪控制方法及应用  

Stability Tracking Control Methods and Applications of the Missile Launching Equipment Under the Coupling of the Wheeled Vehicle

作　　者：姜晓明 刘宜罡 牛远征 殷翔 JIANG Xiaoming;LIU Yigang;NIU Yuanzheng;YIN Xiang(Shanghai Electro-mechanical Engineering Institute,Shanghai 201109,China)

机构地区：[1]上海机电工程研究所,上海201109

出　　处：《弹箭与制导学报》2023年第6期92-96,共5页Journal of Projectiles,Rockets,Missiles and Guidance

摘　　要：针对轮式底盘柔性对导弹发射装置跟踪稳定性的影响,建立了导弹发射装置与轮式底盘在地理系下的刚柔耦合模型。分析了柔性底盘对发射装置伺服系统稳定性的影响,提出了发射装置与底盘相互耦合下伺服系统的稳定性条件。在稳定控制回路中设计了跟踪滤波器,对发射装置调转跟踪过程的车体姿态进行滤波,克服了底盘耦合下控制系统跟踪的不稳定性。最后通过仿真和试验对提出方法的有效性进行了验证。Considering the impact of vehicle flexibility on stability of the missile launching equipment,the rigid-flexible coupling model between the missile launching equipment and wheeled vehicle is proposed in the geographical coordinate system.Then the impact of vehicle flexibility on stability of the servo system of the missile launching equipment is analyzed,and stability conditions of the servo system under the coupling of vehicle and launcher are proposed.The tracking filter in the stabilization control loop is designed to filter the attitude angle of the vehicle for avoiding the instability of the control system under the coupling.Finally the effectiveness of the proposed method is validated by the simulation and experiment.

关 键 词：轮式底盘 导弹发射装置 谐振特性 跟踪稳定性 

分 类 号：TJ812.6[兵器科学与技术—武器系统与运用工程] TP13[自动化与计算机技术—控制理论与控制工程]