Nonlinear Analysis And Optimized Algorithm About The Servo System Of The Vehicle-Mounted Radar

With the increasing mobility requirement for weapon system in modern war, highspeed of mounting and transfer is required, and the ability to achieve accurate targetdetection and effective strike in fast motion is also required. In order to improve thebattlefield survivability, the vehicle-mounted weapon system has become an importantdirection of the development of military equipment and technology.The servo control technology plays an irreplaceable role in the vehicle-mountedweapon system, which drives radar antenna to achieve accurate target tracking andguide the fire system to achieve a precision strike. However, due to the ubiquitousnonlinear factors in structural system, such as transmission backlash, mechanicalfriction and load torque ripple, the improvement of the system dynamic performance isrestricted in varying degrees. Especially in the moving process of weapon system, thebody cross roll, pitch, roll, and the gust disturbance will deteriorate the radar trackingperformance further. Therefore, how to overcome nonlinear factors and isolate fromexternal disturbances which impact on the performance of the radar servo controlsystem, has become an important topic in the vehicle-mounted weapon system research.Based on a wheeled gun-missile weapon system, nonlinear factors in thevehicle-mounted radar servo control system, such as transmission backlash, mechanicalfriction and vehicle disturbance, and the corresponding optimized control algorithms arestudied. In this paper, the formation mechanism of transmission backlash andmechanical friction are analysed in detail. Dead zone model is selected as simulatedmodel for backlash nonlinearity.“Static friction+Coulomb friction+Viscous friction”model is selected as simulated model for friction nonlinearity. Fiber optic gyroscope ismounted on the vehicle to achieve attitude real-time detection. Moreover, analysedmodel of servo control system is built.The effectiveness of the selected friction compensation algorithm, adaptive PIDalgorithm, velocity compensation algorithm, position control algorithm and velocityoptimized algorithm in guide mode are verified through simulation analysis. At thesame time, hardware platform is also designed and the research achievements are successfully applied to engineering practice through software and hardware integration.