Research Of Sliding Mode Control Method In Position Servo System Of Multi-tube Rocket Launcher For Independent Defense

The performance of position servo system determines the air and missile defense capacity of defense rocket launcher system. With modern warfare has increasing requirements for performance of weapons and equipments, it is very necessary to research and develop high performance and low cost defense rocket launcher control system.This thesis analyzes the internal mechanism of position servo system of multi-tube rocket launcher for independent defense and the control methods which have been existed on the basis of understanding domestic and foreign research contemporary situation of rocket launcher position servo system. So backstepping sliding mode control(BSMC) and fuzzy adaptive sliding mode control(FASMC) method is applied. The main research contents are as follows:(1) Build model of multi-tube rocket launcher position servo system. Through researching the mathematical model of permanent magnet synchronous motor(PMSM),PMSM is decoupled by vector control, and it sets up three closed-loop position servo model of multi-tube defense rocket launcher which through PID control method from the inside to the outside, The feasibility and effectiveness of the model is verified by simulation. The study found that although PID meet the requirements of the rapidity index of the system, but it can not satisfy the requirements of anti-interference and robustness.(2) Design sliding mode controller for multiple defense rocket launcher position servo system. In order to improve the robustness performance and immunity ability of the system,designing the multi-tube anti-air rocket launcher position servo system by using sliding mode control(SMC) method to external disturbance, who has unique characteristics of strong robustness and adaptive ability. Lyapunov function method is adopted to prove the system stability. The simulation results show that although SMC can achieve good control effect, and also has a certain anti-interference ability and robustness, but the system control signal chattering is more serious.(3) The study method on position servo system of multi-tube rocket launcher for independent defense about BSMC and FASMC method. In order to reduce the chattering of system control signal, backstepping control thought and fuzzy adaptive control method are respectively introduced to SMC method. What’s more, BSMC rocket launcher position servo system and FASMC rocket launcher position servo system with error integral term nonlinear sliding mode surface are designed.Simulation results show that BSMC and FASMC approach not only meet the dynamic and static performance of the system, but also greatly reduce the chattering.The studies of theoretical analysis and simulation results show that BSMC method is notonly easy to achieve but also has the faster response than FASMC method. So it is fit for system which with real-time processing and strong chattering tolerance ability. While FASMC method can effectively decrease chattering, and adapt to system which has a higher requirement for precision of control signal. In conclusion, both methods have their advantages and disadvantages. Compared with SMC method, they are effectively improve the robustness and anti-interference ability of the system, the chattering in the control signal is attenuated and they ensure that the system has a good dynamic and static performance as well.