自行高炮稳定跟踪系统建模与谐振抑制方法

doi:10.12382/bgxb.2023.0685

摘要/Abstract

摘要：

未来战场的高机动作战环境对自行高炮稳定跟踪系统提出了更高的性能要求,根据自行高炮稳定跟踪系统的机械结构特点,应用动量矩定理及矢量求导,基于牛顿-欧拉方法建立描述伺服电机配以减速机驱动方位炮塔和俯仰身管的多刚体动力学模型。通过对动力学模型的进一步分解,得到方位俯仰姿态角与输入力矩的关系式。综合考虑传动机构的刚度和控制对象的变惯量特性,建立载体运动姿态耦合条件下具有复杂动载荷力矩干扰的双轴稳定跟踪系统控制模型。针对结构谐振设计一种基于极点配置法和变增益加速度反馈的自整定PI控制方法与基于观测等效惯量的自整定陷波器,采用大地坐标系下的等效闭环干扰速率补偿式稳定控制策略,对该控制方法进行仿真验证。仿真结果表明:在传动机构存在连接弹性的条件下,所给出的控制方法实现了稳定误差不大于2.2×10^-2mrad、正弦稳定跟踪误差不大于3.5×10^-2mrad,具有良好的控制精度和抗扰动性能;在保证系统拥有较快响应速度的同时,有效抑制了伺服电机变速和稳态过程中的机械谐振,显著降低了负载力矩振荡和负载有效转矩值。

关键词: 自行高炮, 动力学模型, 稳定跟踪控制, 机械谐振, 极点配置, 自整定PI

Abstract:

The high-mobility combat environment of future battlefields imposes higher performance requirements for the stabilizing-tracking system of self-propelled anti-aircraft gun. According to the mechanical structure characteristics of stabilizing-tracking system of self-propelled anti-aircraft gun, a multi-rigid body dynamics model describing the azimuth turret and pitching barrel driven by servo motor and reducer is established based on Newton-Euler method by applying the theorem of moment of momentum and the vector derivation. The relationship between the azimuth and elevation attitude angle and the input torque is obtained through the decomposition of the dynamics model. Considering the.pngfness of transmission mechanism and the variable inertia characteristics of control object, a control model of two-axis stabilizing-tracking system with complex dynamic load torque interference under the condition of the motion and attitude coupling of carrier is established. For structural resonance, a self-tuning PI control method based on pole placement and variable gain acceleration feedback and a self-tuning notch filter based on observation equivalent inertia are designed. Finally, the equivalent closed-loop disturbance rate compensation stabilizing control strategy in geodetic coordinate system is used to verify the proposed control method. The simulated results show that the stability error of the proposed control method is less than 2.2×10^-2 mrad, its sinusoidal stabilizing-tracking error is not greater than 3.5×10^-2 mrad under the condition of elastic transmission and no-backlash. While ensuring the fast response speed of the system, the mechanical resonance of servo motor during variable speed and steady-state process is effectively suppressed, and the load torque oscillation and load effective torque value are significantly reduced.

Key words: self-propelled anti-aircraft gun, dynamics model, stabilizing-tracking control, mechanic resonance, pole placement, self-tuning PI

中图分类号:

TJ275

江腾耀, 李伟, 雷昱, 胡鑫, 王伟伟. 自行高炮稳定跟踪系统建模与谐振抑制方法[J]. 兵工学报, 2024, 45(9): 3029-3043.

JIANG Tengyao, LI Wei, LEI Yu, HU Xin, WANG Weiwei. Modeling and Resonance Suppression Method for Stabilizing-tracking System of Self-propelled Anti-aircraft Gun[J]. Acta Armamentarii, 2024, 45(9): 3029-3043.

图/表 31

图1 自行高炮指向结构及其坐标示意图

Fig.1 Schematic diagram of pointing structure and its coordinate system ofself-propelled anti-aircraft gun

图2 自行高炮稳定跟踪系统方位向简化框图

Fig.2 Simplified azimuth block diagram of stabilizing-tracking system ofself-propelled anti-aircraft gun

图3 极点分布图

Fig.3 Pole distribution diagram

图4 速度环开环波特图

Fig.4 Open loop baud diagram of velocity loop

图5 自行高炮稳定跟踪系统方位向原理框图

Fig.5 Azimuth principle block diagram of stabilizing-tracking system

图6 方位向负载等效转动惯量曲线

Fig.6 Equivalent moment of inertia curve of azimuthal load

图7 干扰速率曲线

Fig.7 Interference rate curves

图8 干扰力矩曲线

Fig.8 Disturbance torque curves

图9 方位向稳定曲线

Fig.9 Azimuth stability curves

图10 俯仰向稳定曲线

Fig.10 Elevation stability curves

图11 方位电机转速曲线

Fig.11 Azimuth motor speed curves

图12 俯仰电机转速曲线

Fig.12 Elevation motor speed curves

图13 方位电机转速跟踪误差曲线

Fig.13 Azimuth motor speed tracking error curves

图14 俯仰电机转速跟踪误差曲线

Fig.14 Elevation motor speed tracking error curves

图15 方位电机负载力矩曲线

Fig.15 Azimuth motor load torque curves

图16 俯仰电机负载力矩曲线

Fig.16 Elevation motor load torque curves

表1 4种控制方法对应的稳定控制效果对比

Table 1 Comparison of stabilizing control effects of four control methods

控制方法	方位向稳定误差峰值/mrad	俯仰向稳定误差峰值/mrad	方位电机转速误差均方根值/(r·min^-1)	俯仰电机转速误差均方根值/(r·min^-1)	方位向负载均方根力矩/(N·m)	俯仰向负载均方根力矩/(N·m)
MPM	0.51	0.84	30.63	73.01	82.97	20.63
PPM	4.13×10^-2	3.58×10^-2	1.22	0.55	88.23	21.11
NF&PPM	4.13×10^-2	3.58×10^-2	1.22	0.55	78.36	19.83
STPPM	2.20×10^-2	1.81×10^-2	0.81	0.44	70.51	18.50

图17 方位负载等效转动惯量曲线

Fig.17 Equivalent moment of inertia curve of azimuthal load

图18 干扰速率曲线

Fig.18 Interference rate curves

图19 干扰力矩曲线

Fig.19 Disturbance torque curves

图20 方位向稳定跟踪曲线

Fig.20 Azimuth stabilizing-tracking curves

图21 俯仰向稳定跟踪曲线

Fig.21 Elevation stabilizing-tracking curves

图22 方位向稳定跟踪误差曲线

Fig.22 Azimuth stabilizing-tracking error curves

图23 俯仰向稳定跟踪误差曲线

Fig.23 Elevation stabilizing-tracking error curves

图24 方位电机转速曲线

Fig.24 Azimuth motor speed curves

图25 俯仰电机转速曲线

Fig.25 Elevation motor speed curves

图26 方位电机转速跟踪误差曲线

Fig.26 Azimuth motor speed tracking error curves

图27 俯仰电机转速跟踪误差曲线

Fig.27 Elevation motor speed tracking error curves

图28 方位电机负载力矩曲线

Fig.28 Azimuth motor load torque curves

图29 俯仰电机负载力矩曲线

Fig.29 Elevation motor load torque curves

表2 4种控制方法对应的稳定跟踪控制效果对比

Table 2 Comparison of stabilizing-tracking control effects of four control methods

控制方法	方位向稳定误差峰值/mrad	俯仰向稳定误差峰值/mrad	方位电机转速误差均方根值/(r·min^-1)	俯仰电机转速误差均方根值/(r·min^-1)	方位向负载均方根力矩/(N·m)	俯仰向负载均方根力矩/(N·m)
MPM	0.92	1.96	33.13	114.19	46.02	10.31
PPM	5.71×10^-2	4.52×10^-2	1.39	0.85	45.28	10.07
NF&PPM	5.71×10^-2	4.52×10^-2	1.39	0.85	42.33	9.74
STPPM	3.49×10^-2	2.57×10^-2	0.91	0.63	38.89	9.18

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