An Improved Quasi-continuous Algorithm for Rotational Shell Magazine Position Control

doi:10.12382/bgxb.2023.0064

Abstract

Abstract:

Based on the existing researches on quasi-continuous algorithm, a novel improved quasi-continuous controller is designed to improve the precision and robustness of rotational shell magazine position control in the automatic loading process of a large caliber artillery.By combining a sliding mode disturbance observer, the novel controller is independent of the unknown system uncertainty boundary, and no new parameters are introduced, which will lower the difficulties of controller designing and adjusting.The stabilities of controller and close-loop scheme are verified by Lyapunov functions. The simulated and experimental results have demonstrated the superiority of the improved controller over the existing quasi-continuous algorithm.In the presence of unknown time-varying disturbance and uncertain parameters, the improved controller could achieve a higher convergence rate in reaching phase, reduce the overshoot and restrain chattering in sliding phase while performed on the magazine.

Key words: rotational shell magazine, uncertain disturbance, improved quasi-continuous controller, sliding mode disturbance observer

CLC Number:

TJ303⁺.3

CHEN Dong, QIAN Linfang, CHEN Zhiqun, CHEN Longmiao, ZOU Quan, CHEN Junhua. An Improved Quasi-continuous Algorithm for Rotational Shell Magazine Position Control[J]. Acta Armamentarii, 2024, 45(5): 1436-1448.

Figures/Tables 18

Fig.1 Structure of rotational shell magazine

Fig.2 The overall structure diagram of magazine control system

Fig.3 Flowchart of controller

Table 1 Parameters of magazine and PMSM

参数	数值
电机极对数n_p	4
电感L_s/H	0.0085
定子电阻R_s/Ω	2.872
磁链ϕ_f/Wb	0.42
名义转动惯量J_e0/(kg·m²)	0.003
名义阻尼系数B_e0/(N·m·s)	0.009

Table 2 Parameters of controller

参数	数值
微分器Lipschitz常数L	5000
观测器滑模面积分常数c₁	5
控制器滑模面积分常数c₂	10
SMDO趋近律常数k	10
SMDO趋近律常数ε	500
SMDO自适应律参数γ₁	1.1
控制器常数β	0.001

Fig.4 Simulated results of position tracking performance under QCC(upper: 0~5s, and belower: 14~19s)

Fig.5 Simulated results of position tracking performance under the action of controller B with different α

Fig.6 Comparative simulated results of position tracking performance under the action of controller C and controller B

Table 3 Simulated results

参数	控制器C	控制器B
参数	控制器C	α=5	α=1	α=0.1
收敛时间/s	1.13	1.95	1.13	1.13
超调量/rad	0.45	3.35	2.53	0.74
平均抖振幅值/rad	0.10	2.5	2.5	0.78
平均抖振频率/Hz	8	20	26	66

Fig.7 Structure of prototype and control system

Fig.8 Position tracking performance of controller A

Fig.9 Output current of controller A

Fig.10 Position tracking performance of controller B with different α

Fig.11 Output current of controller B with different α

Fig.12 Comparative experimental results of position tracking performance under the action of controller C and controller B

Fig.13 Output current of controller C and controller B

Fig.14 Simulated and experimental results of controller C

Table 4 Experimental results

参数	控制器C	控制器B
参数	控制器C	α=5	α=1	α=0.1
收敛时间/s	1.26	2.86	2.19	1.24
稳态误差/rad	0.62	2.39	1.17	-
超调量/rad	3.01	8.16	0.67	14.72
平均抖振幅值/rad				2.10
平均抖振频率/Hz				8

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