Study on position tracking algorithm of large-inertia artillery with terminal sliding mode control

基于快速终端滑模控制的大惯量火炮随动控制算法研究

¹ School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China
² Xi'an KunLun Industry Group Co., Ltd, Xi'an 710043, China

Received: 6 October 2022

Abstract

The large-inertia artillery has complex structure and high coupling between components. Due to the processing technology, the error between motor shaft position and the actual load position is inevitable and hardly to be compensated. The situation get worse when the system running in high speed, where the error changes more violently and so-called "vibration" phenomenon shows up. The study establishes a detailed mode of servo system including double-motor control, position-loop control, moment model of gears, and feedback of position sensors. Then a position tracking algorithm with terminal sliding mode control is proposed and verified in artillery system. The experiment shows that this algorithm effectively eliminates the "vibration" phenomenon, enables the servo computer to directly use the load position of the artillery as the control variable, and improves the position tracking accuracy and operational stability of artillery system.

摘要

某大型火炮的机械结构复杂, 各部件耦合度高, 由于受到材料刚性、加工和装配工艺等限制, 电机轴架位与火炮实际架位间的误差不能完全消除, 尤其在高速运动中, 误差的非线性变化更为明显, 容易导致运动过程中出现"抖振"现象。通过对火炮随动控制系统进行建模, 建立了从电机控制到火炮实际架位间的驱动方程, 提出了基于快速终端滑模控制的随动控制算法, 并在火炮系统中进行了验证; 实验表明所提算法有效消除了"抖振"现象, 使控制端能够直接使用火炮实际架位作为控制变量, 提高了火炮随动控制精度和运行稳定性。