行进间坦克炮控系统动力学建模与稳定控制  

Dynamics Modeling and Stability Control of Marching Tank Gun Control System

作　　者：王彬[1,2] 张建书 段志峰[1,2] 岳淇星 刚宽宽 苗阳阳 WANG Bin;ZHANG Jianshu;DUAN Zhifeng;YUE Qixing;GANG Kuankuan;MIAO Yangyang(Institute of Launch Dynamics,Nanjing University of Science and Technology,Nanjing 210094,Jiangsu,China;National Key Laboratory of Complex Multibody System Dynamics,Nanjing 210094,Jiangsu,China)

机构地区：[1]南京理工大学发射动力学研究所,江苏南京210094 [2]复杂多体系统动力学全国重点实验室,江苏南京210094

出　　处：《兵工学报》2024年第11期4175-4190,共16页Acta Armamentarii

基　　金：国家自然科学基金项目(92166101)。

摘　　要：考虑行进间坦克炮控系统受路面颠簸引起的外界扰动和炮控系统工作时火炮俯仰运动不平衡力矩影响,基于第二类Lagrange方法建立行进间坦克炮控系统两轴耦合2自由度动力学模型。针对炮控系统的实际受力和运动状态,建立方位向和高低向驱动系统含有永磁同步电机以及传动机构分别含有齿轮减速箱与滚柱丝杠的行进间坦克炮控系统机电耦合动力学模型。为快速抑制行进间坦克炮控系统内外扰动对目标稳定跟踪的影响,基于非奇异快速终端滑模控制律和线性扩张状态观测器设计具有有限时间收敛特性的行进间坦克稳定跟踪控制器。根据行进间坦克炮控系统对目标的稳定跟踪过程计算炮控系统稳定精度和到位时间,并在不同工况下与传统控制方法进行对比。研究结果表明,新方法响应速度快、抗干扰能力强、稳定精度高,验证了控制器设计的有效性。Taking the external disturbances caused by the uneven road surfaces of marching tank gun control system(TGCS)and the unbalanced moment of tank gun elevation motion during TGCS operationinto consideration,a two-axis coupled two-degrees-of-freedom(2-DOF)dynamics model of the marching TGCS is established using the second kind of Lagrange method.In terms of the actual force and motion state of TGCS,an electromechanical coupling dynamics model is established for the marching TGCS,which is equipped with permanent magnet synchronous motors(PMSM)in the azimuthal and elevational direction drive system and the gear reduction gearboxes and roller screws in the transmission mechanism.A stable tracking controller for marching tank with finite-time convergence characteristicsis designed to quickly reject the effects of internal and external disturbances of the marching TGCS on the stable tracking of target.This design is based on a nonsingular fast terminal sliding mode(NFTSM)control law and a linear extended state observer(LESO).The stability precision and arrival time of TGCS for marching tank are calculated based on the stable tracking process for targets.The computational results are then compared with those obtained by utilizing traditional control methods under various operating conditions.The findings demonstrate that the proposed tracking controller exhibits rapid response speed,strong robustness against disturbances,and high tracking accuracy,thereby validating the effectiveness of the controller design.

关 键 词：坦克炮控系统 动力学建模 机电耦合 自抗扰控制 滑模控制 稳定跟踪 

分 类 号：TJ02[兵器科学与技术—兵器发射理论与技术] TJ38