Design of Hierarchical Control Strategy for Antiaircraft Multiple Rocket Launcher

doi:10.3969/j.issn.1000-1093.2012.06.018

Abstract

Abstract: An improved 2-level hierarchical control strategy was designed to overcome parameter perturbation and load disturbance in antiaircraft rocket launcher systems. Its decision-making level was used to calculate the moment of inertia according to the system status, and a novel 2-order sliding mode controller was adopted in the real-time control level to smooth the control input curve and restrain the parameter variations and external load disturbances. Both simulation and experiment show that this strategy can guarantee the dynamic performance of system and has strong robustness.

Key words: automatic control technology, armament launch theory, antiaircraft rocket launcher, hierarchical control, 2-order sliding mode

CLC Number:

TJ393

YANG Fan， MA Da-wei， LE Gui-gao， YAO Jia. Design of Hierarchical Control Strategy for Antiaircraft Multiple Rocket Launcher[J]. Acta Armamentarii, 2012, 33(6): 741-746.

References

［1］朱玉川，马大为，李志刚，等. 带积分项的火箭炮优化滑模伺服控制[J]. 兵工学报，2007，28(10)：1272- 1275.
ZHU Yu-chuan, MA Da-wei, LI Zhi-gang, et al. Optimal sliding mode servo control with integral term for rocket launcher[J]. Acta Armamentarii, 2007, 28(10): 1272-1275. (in Chinese)
[2] 柴华伟. 某集束防空火箭炮位置伺服系统的鲁棒控制与应用研究[D]. 南京：南京理工大学，2008.
CHAI Hua-wei. Robust control and application research on position servo system of cluster antiaircraft rocket launcher[D]. Nanjing: Nanjing University of Science and Technology, 2008.(in Chinese)
[3] 孙常胜，陈杰，窦丽华. 基于最优化的坦克稳定器滑动模态变结构控制[J]. 兵工学报，2001，22(1)：15-18.
SUN Chang-sheng, CHEN Jie, DOU Li-hua. Variable structure control for sliding mode of tank stabilizator based on optimization[J]. Acta Armamentarii, 2001, 22(1):15-18. (in Chinese)
[4] 尚安利，于德海，顾文锦. 基于动态二阶滑模控制算法的导弹自动驾驶仪设计[J]. 兵工学报，2006，27(1)：50-53.
SHANG An-li, YU De-hai, GU Wen-jin. Missile autopilot design based on dynamic second order sliding mode control[J]. Acta Armamentarii, 2006, 27(1): 50-53. (in Chinese)
[5] 段洪君，史小平. 基于滑模自适应的飞行器鲁棒姿态控制[J]. 兵工学报，2009，30(7)：1004-1008.
DUAN Hong-jun, SHI Xiao-ping. Robust attitude control for micro air vehicle based on sliding adaptive algorithml[J]. Acta Armamentarii, 2009, 30(7): 1004-1008. (in Chinese)
[6] SUN Chang-sheng, TIAN Jie, CHEN Jie, et al. Optimal sliding mode variable structure control of servo regulators with asymptotic observers[C]∥Proceedings of the 3th World Congress on Intelligent Control and Automation. IEEE, 2000, 4: 3021-3025.
[7] GUO Ya-jun, MA Da-wie, LE Gui-gao. Backstepping and sliding mode cascaded compound control for AC position servo system[C]∥Asia Pacific Conference on Postgraduate Research in Microelectronics & Electronics. IEEE, 2009: 145-148.
[8] Valavanis K P，Saridis G N. Probabilistic modeling of intelligent robotic systems[J]. IEEE Transaction on Robotic and Automation,1991,7(1): 164- 171.
[9] I·lyas Eker. Sliding mode control with PID sliding surface and experimental application to an electromechanical plant [J]. ISA Transactions, 2006,45(1):109-118.
[10] 朱玉川. 某箱式多管火箭炮快速装填与高精度自动操瞄系统研究[D]. 南京：南京理工大学, 2006.
ZHU Yu-chuan. Research on rapid loading and high precision automatic operating & aiming system of a certain canister multiple rocket launcher[D]. Nanjing：PhD Dissertation, Nanjing University of Science and Technology, 2006. (in Chinese)
[11] 齐国元. 非线性系统新型估计器及其在控制中的应用[D]. 天津：南开大学，2004.
QI Guo-yuan. New style estimators for nonlinear systems and applications in control[D]. Tianjin： Nankai University, 2004. (in Chinese)

[1]	YANG Jing， SHI Jin-guang， LI Xiao-yuan, WANG Zhong-yuan， CHANG Si-jiang. Integrated Autopilot Guidanceand Control Design Based on 2-order Sliding Mode for Extended Range Guided Projectiles [J]. Acta Armamentarii, 2016, 37(12): 2251-2258.
[2]	QI Xiao-hui, LI Jie, HAN Shuai-tao . Adaptive Active Disturbance Rejection Control and Its Simulation Based on BP Neural Network [J]. Acta Armamentarii, 2013, 34(6): 776-782.
[3]	LIU Li-dong, ZHANG Yu-wen. Buoyancy Compensation-based Optimal Control of UUV Low-speed State [J]. Acta Armamentarii, 2013, 34(5): 644-648.
[4]	ZHAO Wei, RUAN Jian, LI Sheng, PEI Xiang. Research on Power System of Hydraulic Catapult Mechanism [J]. Acta Armamentarii, 2013, 34(4): 459-464.
[5]	WU Yue-fei, MA Da-wei, LE Gui-gao. Robust Adaptive Backstepping Control for Rocket Launcher Position Servo System with Constraint Control [J]. Acta Armamentarii, 2013, 34(4): 477-483.
[6]	ZHANG Xi-yong, WANG Shu-zong, LI Zong-j. A Method of Navigating Pose Controlling System Design for Underwater Vehicle Based on Variable Structure Control [J]. Acta Armamentarii, 2013, 34(3): 301-309.
[7]	HU Kun, ZHANG Xiao-fang, LIU Chang-bo. Unmanned Underwater Vehicle Depth ADRC Based on Genetic Algorithm Near Surface [J]. Acta Armamentarii, 2013, 34(2): 217-222.
[8]	MIN Chao-bo, ZHANG Jun-ju, CHANG Ben-kang, LIU Lei, SUN Bin. A Method of Controlling an Optical-electronic Turret by Fusion of PI Controller and Kalman Filter [J]. Acta Armamentarii, 2013, 34(10): 1334-1340.
[9]	GAO Qiang, HOU Run-min, YANG Guo-lai,MAO Bin,HOU Yuan-long. Adjustment and Control of a Certain Top-mounted Gun Based on a Novel Fractional Order Neural Sliding Mode Strategy [J]. Acta Armamentarii, 2013, 34(10): 1311-1317.
[10]	PENG Fu-ming, FANG Bin. Design of PID Controller for Nonlinear System with Dead-zone and Saturation [J]. Acta Armamentarii, 2013, 34(10): 1298-1303.
[11]	FANG Xin-peng， YAN Wei-sheng. Formation Optimization for Cooperative Localization Based on Moving Long Baseline with Two Leader AUVs [J]. Acta Armamentarii, 2012, 33(8): 1020-1024.
[12]	YAN Zhi-feng₁， MA Xiao-jun₁， WEI Shu-guang₁， WANG Jing₂， YUAN Dong₁. Improved SVPWM of AC Electrical Tank Gun Control System [J]. Acta Armamentarii, 2012, 33(7): 816-821.
[13]	CHEN Fu-hong₁, MA Da-wei₁, YANG Bi-wu₂， ZHU Zhong-ling₁. Global Sliding Mode Control for Rocket Launcher AC Servo System [J]. Acta Armamentarii, 2012, 33(6): 641-646.
[14]	GUO Ya-jun， WANG Xiao-feng, MA Da-wei， HU Jian. Application of Global Adaptive Fuzzy Backstepping Control in Rocket Launcher Servo System [J]. Acta Armamentarii, 2012, 33(6): 658-662.
[15]	ZHONG Chong-liang， DING Ya-lin， FU Jin-bao. Forward Image Motion Compensation for Aerial Camera Based on Neural Network Predictive Control [J]. Acta Armamentarii, 2012, 33(6): 706-711.