Modeling and Simulation of Self-stable Gun Line Control Using Interference Rate Compesation

doi:10.12382/bgxb.2021.0295

Abstract

Abstract: A self-stabilizing control method for gun line based on interference rate compensation in geodetic coordinates is proposed to achieve the high precision stability and tracking control of gun under the conditions of moving base and high firing angle. The proposed method can used to effectively restrain the influence of self-propelled artillery attitude disturbance on the gun line pointing. According to the motion law of stable gun line on a moving base，a mounting mode of interference rate measuring gyro is designed，and the decoupling compensation values of the azimuth and pitching interference rate in geodetic coordinates are derived. On the basis of the traditional anti-aircraft gun servo principle，the interference rate feed-forward compensation is applied to realize the self-stabilization and control decoupling of gun line. Since the gun stability is only related to two degrees of freedom of turret rotation and gun pitching，both of which have eccentricity moment and other factors. The Newton-Euler approach is used to establish a dynamic model of moving carrier，gun and turret. The nonlinear stiffness and backlash of transmission mechanism are considered combined with the executive motor model and classical closed-loop control. The control strategy is simulated in the two cases of ignoring elasticity and considering elasticity，respectively，under the conditions of three-axis compound swaying with the heading，pitching，rolling amplitudes of 7° and period of 2 s of vehicle body. The simulated results show that the proposed stability control method with interference rate compensation is used to achieve the stable firing angle of more than 60°，the stability control error of less than 0.5 mrad and the sinusoidal stability tracking control error of less than 2.8 mrad，and the control decoupling of pitching an azimuth is realized.

Key words: self-propelledartillery, gunlineself-stablization, interferenceratecompensation, stabilitytracking, controldecoupling

CLC Number:

TJ275

LI Wei， HAN Chongwei， LIU Aifeng， REN Haibo， HU Xin， JIANG Junfeng. Modeling and Simulation of Self-stable Gun Line Control Using Interference Rate Compesation[J]. Acta Armamentarii, 2022, 43(6): 1233-1245.

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