Research On Performance Analysis And Control For Weapon Station Servo Device

As a kind of light fire weapon,the weapon station can realize the target detection,tracking,recognition and combat,which plays a more and more important role in the field of military equipment.As an essential part of the weapon station,the weapon station servo device has a direct influence on the attack accuracy of the weapon station.This paper focuses on the performance index design,electromechanical coupling modeling,model parameter identification,key factors affecting the performance analysis,and servo control error suppression in order to provide the theoretical basis and engineering technical guidance for the improvement of the performance of the weapon station servo device.The main work of this paper is as follows:1.The composition,working principle and functional requirements of the weapon station servo device are analyzed.On the basis of these,the key performance indexes,such as stable precision,low speed stability,angular position accuracy,synchronous precision and servo stiffness are designed,and the mathematical formulas of these key performance indexes are also derived.2.Aiming at the electromechanical coupling modeling of weapon station servo device.On the basis of the analysis of the multi-axis coupling dynamics,an electromechanical coupling model including the current loop,mechanical drive and sensor is established.The influence of model parameters on the performance of the weapon station servo system is analyzed by using the theory and model simulation analysis,and the key influencing factors are obtained.It provides a theoretical basis for the structural optimization design and model based control of the weapon station servo device.3.Accurate model parameters are the basis of simulation analysis and high precision control based on the model.To address this problem,the parameters of electromechanical coupling model are identified by using the method of linear and nonlinear model parameter identification.The principle of parameter identification is analyzed,the model structure and the criterion function of parameter identification are derived,and the steps of parameter identification are given.The parameters of a certain type of weapon station servo device are identified,the results of parameter identification are obtained,the consistency between the simulation results and the actual test results is analyzed and compared in the open loop and closed loop response.4.Friction and low order mechanical resonance are two important factors that restrict the performance of the weapon station servo device.For the problem of friction,the problems existing in the design of the traditional friction compensator are analyzed,On the basis of the friction characteristics of the harmonic gear,the traditional friction compensator is modified,the modified friction compensator can effectively realize the compensation of the ’dead zone’ of the speed,the ’flat top’ of the position and the low speed stability.For the problem of mechanical resonance,a kind of resonance suppression method based on the additional feedback of speed difference is proposed.This method can reduce the influence of the mechanical resonance peak by increasing the damping characteristic of the closed loop system,The principle and configuration of control parameters of the method is analyzed.The effectiveness of the proposed methods are verified by the experimental results.5.Aiming at the test problem of the performance indexes of the weapon station servo device,the test method of the main indexes are proposed.A test system is built based on the weapon station servo device,the test methods and results of stable precision,low speed stability,angular position accuracy and synchronous precision are given.The results show that the performance of the weapon station servo device is better than the design value.