基于模糊PID控制算法的输弹机优化设计

发布时间：2018-10-16 20:48

【摘要】：论文以122毫米轮式自行火炮的半自动输弹机为研究背景,该半自动输弹机采用的是一种臂式输弹机构,对此本文研究一种臂式输弹机控制系统,该控制系统本质上是一种伺服控制系统。在保持现有武器系统总体布局的不变,实现弹丸更加精确的装填。通过分析臂式输弹机的工作特性,制定了详细的控制方案。通过对臂式输弹机进行动力学分析,对电机的参数进行的估算,选择了永磁同步伺服电机为控制电机,并选择了伺服电机对应的驱动器。由于整个输弹过程时间极短,因此对电机的速度控制方面要求很高。在不同的射角下,要想达到相同的卡膛速度,电机所要输出的力矩也是不同的,特别是在高射角的情况下,电机不仅要克服弹丸的重力做功还要使其达到卡膛速度,采用普通的PID对电机进行控制很难实现目的。所以本文采用对电机进行前馈补偿的PID控制,并利用MATLAB/Simulink仿真软件对控制系统进行建模仿真,得到电机的速度仿真曲线,但仍存在转速超调和振动。为了解决这一问题,设计了模糊控制系统,经对比仿真结果,可以得到模糊PID控制系统比普通PID控制器具有跟快的响应速度以及抗干扰能力。本文所提出的输弹机控制系统主要解决现有武器系统人工弹丸装填遇到的大射角装填困难、装填精度难以保证的问题,同时减轻弹丸装填手的工作强度,提高装填速度,有利于提高火炮的射击精度。
[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.
【学位授予单位】：中北大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TJ818;TP273

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