基于模糊PID控制算法的輸彈機優(yōu)化設計
發(fā)布時間：2018-10-16 20:48
【摘要】：論文以122毫米輪式自行火炮的半自動輸彈機為研究背景,該半自動輸彈機采用的是一種臂式輸彈機構,對此本文研究一種臂式輸彈機控制系統(tǒng),該控制系統(tǒng)本質上是一種伺服控制系統(tǒng)。在保持現有武器系統(tǒng)總體布局的不變,實現彈丸更加精確的裝填。通過分析臂式輸彈機的工作特性,制定了詳細的控制方案。通過對臂式輸彈機進行動力學分析,對電機的參數進行的估算,選擇了永磁同步伺服電機為控制電機,并選擇了伺服電機對應的驅動器。由于整個輸彈過程時間極短,因此對電機的速度控制方面要求很高。在不同的射角下,要想達到相同的卡膛速度,電機所要輸出的力矩也是不同的,特別是在高射角的情況下,電機不僅要克服彈丸的重力做功還要使其達到卡膛速度,采用普通的PID對電機進行控制很難實現目的。所以本文采用對電機進行前饋補償的PID控制,并利用MATLAB/Simulink仿真軟件對控制系統(tǒng)進行建模仿真,得到電機的速度仿真曲線,但仍存在轉速超調和振動。為了解決這一問題,設計了模糊控制系統(tǒng),經對比仿真結果,可以得到模糊PID控制系統(tǒng)比普通PID控制器具有跟快的響應速度以及抗干擾能力。本文所提出的輸彈機控制系統(tǒng)主要解決現有武器系統(tǒng)人工彈丸裝填遇到的大射角裝填困難、裝填精度難以保證的問題,同時減輕彈丸裝填手的工作強度,提高裝填速度,有利于提高火炮的射擊精度。
[Abstract]:This paper takes the semi-automatic projectile conveyer of 122mm wheeled self-propelled gun as the research background. The semi-automatic projectile conveyer adopts a kind of arm mechanism. In this paper, a control system of arm projectile conveyer is studied. The control system is essentially a servo control system. While keeping the overall layout of the existing weapon system unchanged, the projectile can be loaded more accurately. By analyzing the working characteristics of the arm-type projectile conveyer, a detailed control scheme is established. Based on the dynamic analysis of the arm projectile conveyer and the estimation of the parameters of the motor, the permanent magnet synchronous servo motor is selected as the control motor and the corresponding driver of the servo motor is selected. Because of the short time of the whole course of projectile delivery, the speed control of the motor is very high. In order to achieve the same bore speed at different firing angles, the torque output by the motor is different, especially in the case of high firing angle, the motor not only has to overcome the gravity work of the projectile, but also to achieve the speed of the bore. It is difficult to control the motor with common PID. In this paper, the PID control of motor feedforward compensation is adopted, and the control system is modeled and simulated by MATLAB/Simulink simulation software. The speed simulation curve of the motor is obtained, but there is still overspeed and vibration. In order to solve this problem, a fuzzy control system is designed. By comparing the simulation results, it can be concluded that the fuzzy PID control system has faster response speed and anti-jamming ability than the ordinary PID controller. The control system of the projectile conveyer presented in this paper mainly solves the problems of large angle loading and difficult to guarantee the filling accuracy of the manual projectile loading of the existing weapon system, at the same time, it reduces the working intensity of the projectile loader and improves the loading speed. It is propitious to improve the firing accuracy of artillery.
【學位授予單位】：中北大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TJ818;TP273
本文編號：2275592
[Abstract]:This paper takes the semi-automatic projectile conveyer of 122mm wheeled self-propelled gun as the research background. The semi-automatic projectile conveyer adopts a kind of arm mechanism. In this paper, a control system of arm projectile conveyer is studied. The control system is essentially a servo control system. While keeping the overall layout of the existing weapon system unchanged, the projectile can be loaded more accurately. By analyzing the working characteristics of the arm-type projectile conveyer, a detailed control scheme is established. Based on the dynamic analysis of the arm projectile conveyer and the estimation of the parameters of the motor, the permanent magnet synchronous servo motor is selected as the control motor and the corresponding driver of the servo motor is selected. Because of the short time of the whole course of projectile delivery, the speed control of the motor is very high. In order to achieve the same bore speed at different firing angles, the torque output by the motor is different, especially in the case of high firing angle, the motor not only has to overcome the gravity work of the projectile, but also to achieve the speed of the bore. It is difficult to control the motor with common PID. In this paper, the PID control of motor feedforward compensation is adopted, and the control system is modeled and simulated by MATLAB/Simulink simulation software. The speed simulation curve of the motor is obtained, but there is still overspeed and vibration. In order to solve this problem, a fuzzy control system is designed. By comparing the simulation results, it can be concluded that the fuzzy PID control system has faster response speed and anti-jamming ability than the ordinary PID controller. The control system of the projectile conveyer presented in this paper mainly solves the problems of large angle loading and difficult to guarantee the filling accuracy of the manual projectile loading of the existing weapon system, at the same time, it reduces the working intensity of the projectile loader and improves the loading speed. It is propitious to improve the firing accuracy of artillery.
【學位授予單位】：中北大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TJ818;TP273
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