| Steering gear is the executive body of the guided projectile, its function is changing the onboard computer control signals into the vane angle of the rudder, so as to realize the adjustment of the flight attitude of the projectile and then reach the guidance purpose. In order to meet the requirement of precision guidance technology development, the research of steering gear is needed to change from simple getting rudder angle to angle servo proportional control.In order to increase the output angle of the steering gear, and make the output angle being able to be adjusted to improve the dynamic performance and steady state performance of the servo system, this paper improves designing of the BAN G-BANG type pneumatic actuator of the classic Russian production D02 red soil to the angle proportional control actuator. The specific research contents include the following aspects:Adjust and design the steering gear gas path and the position of the space of each module, so as to leave sensor, controller and other function parts assembly space; redesign unlock rudder device to reduce explosive consumption and to ensure the reliability of the actuato r; improve and design pneumatic valve to enhance the reliability and steady state performance; study and design tangent transmission mechanism and the crossing couplings to make transmission system more stability and more efficiency.Do mechanical structure design results some finite element simulation analysis, mainly including: statics and sealing simulation and analysis of unlock mechanism; pneumatic valve modal analysis; dynamic simulation and analysis of transmission mechanism of tangent; static simulation analysis of cross shaft coupling etc.. According to the simulation results, the feasibility and reliability of the structure improvement design are verified.According to the expert experience of classical PID and fuzzy control knowledge, design the servo self tuning fuzzy PID controller, do the steering gear simplified model some control simulation analysis, in contrast to the design of the control performance of the servo intelligent controller with the classical PID controller, the former has better dynamic characteristics, steady performance and the large perturbation robustness.Using PWM pulse width modulation design steering engine, at the same time using the throttle orifice flow formula design drive pressure feedback link, in order to carry out the PWM duty cycle pressure correction. The introduction of air pressure correction link not only guarantees the stability of the whole control system, but also realizes the real-time tracking correction of the PWM duty cycle, and improves the efficiency of dynamic control.Establishing the ADAMS dynamic model of steering gear, setting up the hinge moment, the cylinder friction force and other boundary conditions, and being with the Simulink model of the joint control actuator carring out the whole system simulation. In contrast to the classical PID control and self tuning fuzzy PID control system simulation results. The latter has better control performance, and revised air disturbance and load disturbance, the simulation results show that the servo system in addition to the excellent dynamic and static performance, but also has good robustness in case of large disturbance. The design results are qualified. |
