Modeling and Resonance Suppression Method for Stabilizing-tracking System of Self-propelled Anti-aircraft Gun

doi:10.12382/bgxb.2023.0685

Abstract

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

CLC Number:

TJ275

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.

Figures/Tables 31

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

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

Fig.3 Pole distribution diagram

Fig.4 Open loop baud diagram of velocity loop

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

Fig.6 Equivalent moment of inertia curve of azimuthal load

Fig.7 Interference rate curves

Fig.8 Disturbance torque curves

Fig.9 Azimuth stability curves

Fig.10 Elevation stability curves

Fig.11 Azimuth motor speed curves

Fig.12 Elevation motor speed curves

Fig.13 Azimuth motor speed tracking error curves

Fig.14 Elevation motor speed tracking error curves

Fig.15 Azimuth motor load torque curves

Fig.16 Elevation motor load torque curves

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

Fig.17 Equivalent moment of inertia curve of azimuthal load

Fig.18 Interference rate curves

Fig.19 Disturbance torque curves

Fig.20 Azimuth stabilizing-tracking curves

Fig.21 Elevation stabilizing-tracking curves

Fig.22 Azimuth stabilizing-tracking error curves

Fig.23 Elevation stabilizing-tracking error curves

Fig.24 Azimuth motor speed curves

Fig.25 Elevation motor speed curves

Fig.26 Azimuth motor speed tracking error curves

Fig.27 Elevation motor speed tracking error curves

Fig.28 Azimuth motor load torque curves

Fig.29 Elevation motor load torque curves

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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