Study On Electric Vertical Erection For Large Missile Launcher On Board

With development of technology,multi-electric in specialized vehicle is getting more and more popular. Recently, electric drive fast vertical erection of large missile launcher has become a research focus in the area of missile launching. Beside the erection time demanded is shorter and shorter, the capability of supply power in vehicle is limited, and the technology on long-tonnage multi-stage electric cylinder is not mature yet, all these would make the realization of electric drive fast vertical erection system of large missile launcher turn into a Key Tech. Based on the background of electric drive vertical erection system in missile launcher, this paper mainly focus on the overall layout scheme and control strategies of the erection system, the details of this paper are as follows:There are difficulties in overall layout of the electric drive device in the missile launcher mainly due to the low telescope ratio of long-tonnage multi-stage electric cylinder and immaturity of some related technologies. In order to solve those problems, a single-stage electric cylinder with linkage mechanism is brought forward as the overall layout scheme. The mathematical model of this erection system is built up, and the whole process of erection is also analyzed through the kinematics and dynamics simulations.Considering the contradiction between time index of fast vertical erection and supply power in the launch vehicle, and also combining with the characteristics of load torque vs. position, a field-weakening control plus constant power control(CPC) of ultra capacitor energy storage control is proposed. In order to make full use of supply power in the vehicle to achieve the erection, a motion planning of the CPC based on actual condition of both load variation and power supply is studied. This CPC strategy adopts fuzzy control based on motion planning, it means that the fuzzy control does the real-time modification on the offline CPC motion planning. Compound field-weakening control is combine arithmetic field-weakening with d-axis current reference compensation field-weakening, and this field-weakening control method can assure the system robustness.Aiming at the stability of velocity loop and its response overshoot during erection with load variation, as well as to enhance the system dynamic response at the same time, a fuzzy exponential PID(Proportion-Integral-Differential) control in current loop is presented. The traditional PID control is optimized by adopting error exponential form instead of error itself. This nonlinear control can not only eliminates the static error, but also accelerate the small angles response.For sake of solving power supply shortage during erection, a nonlinear power management based on ultra capacitor SOC(State Of Charge) is presented. Both the capacitor voltage and the inductance current are regarded as the two feedback states. A higher-order sliding mode controller of induction current is adopted in current loop, which can counteract negative impedance of bi-directional DC-DC converter with constant power load, and improve both the rapidity and the robustness of the converter. The simulation and experiment results validate the methods raised above.Finally, the device prototype of the electric cylinder, motor driver and ultra capacitor energy in the storage electric-fast-vertical-erection system are accomplished. Then the hardware-in-loop simulation platform of this electric drive vertical erection system is established to finish the digital simulation and hardware-in-loop experiments. The responding time, the responding and static performance are all testified through the experiments. The experiments results are in a good agreement with the simulation results, also verify the methods and control strategies, as we propose in this paper, which can achieve the rapidity and stationarity during electric vertical erection, and shorten the erection time of this electric drive vertical erection device in lager missile launcher. In a word, this paper will provide theoretical support and technical reference for further theoretical research and engineering on electric drive fast vertical erection system in large missile launcher.