Design Of Control System For Weapon Parallelism Calibration Device

Parallel degree of weapon's barrel and aiming axis has important influence on weapon's shooting performance. The parallel degree is detected by detection device. The device studied in this paper uses small caliber parallel light and servo system. Performance of the detecting device mainly depends on precision of servo system.Main contents are as follows:First of all, this paper designs the structure of control system, include horizontal servo system and rotation servo system. In addition, according to the requirements, this paper takes a deep research on the structure and hardware of control system.Secondly, this paper presents a model of rotation servo system and analyzes the influence of friction. At last, this paper establishes Stribeck friction model and servo system nonlinear model.Finally, this dissertation takes research on sliding mode control strategy, analyzes robustness and anti-jamming of servo system generated by sliding mode control strategy. In the condition of friction, an equal sliding mode control method is used in this paper. To solve the chattering in sliding mode control strategy, RBF neural network controller takes the place of sliding mode controller. In RBF controller, switch is cancelled, but the ability of anti-jamming is retained. This paper also analyzes the influence of friction to serve system through simulation. At last, the effects of PID controller, sliding mode controller and neural network controller are compared to verify the effectiveness of proposed controller.