Research On Existing Foundation Vibration Of Single Degree Of Freedom Mechanical Arm

Ammunition automatic loading system is always the core part in large caliber howitzers, its performance largely determine the modernization level of future digital artillery. Taking the ammunition transfer arm in autoloader of large caliber howitzer as research object, it is reduced to high speed variable load mechanical arm system with strong random foundation vibration. Considering the actual control motor, the paper presents the specific implementation of control scheme for the mechanical arm servo system, the response control process for ammunition transmission mechanical arm under external time domain model incentive was simulated well, a beneficial exploration was made to further improve the design theory for ammunition automatic loading system.Around the some problems of ammunition transmission mechanical arm encountered in March, Small scale physical model was designed for ammunition transmission mechanical arm which contains the mechanical arm, the driving motor, the incremental encoder, the motor controller, the gearboxes and so on. Combined with the theory of electrical machine, the nonlinear DC motor model is established. A variety of intelligent algorithms were used to identify the unknown parameters of the selected motor, such as SGA, MPGA, BP neural network and so on, the calcutated location response curve retrieved from computation in light of the identified parameters was well consist with the experimental result. Using "quasi-equivalent" modeling and improved genetic algorithm, the double closed loop servo system were equivalent to an accurate non-linear modeling, a good foundation was laid for further study on the subject about parameter identification under variable load conditions and servo control.Combined with the actual situation of ammunition transmission mechanical arm in howitzer, the paper in turn added excitation caused by pavement time-domain incentive, current saturation nonlinearity for dc motor, nonlinear friction for motor drive and flexiblization for drive system. Through the simulation analysis of the external random excitation on the position tracking response of mechanical arm, using cascade control loop and the active damping compensation to improve the existing PID loop, the results proved that the designed control circuit has good anti-interference and dynamic response ability.