| The ISO-actuation balance and positioning electro-hydraulic servo system is an important part of gun control system.Aiming at the high reliability of the system,a redundant control scheme is designed to improve the reliability of the system in this paper.And the PID controller based on the improved RBF neural network is designed to realize the precise positioning of the gun barrel.The realization of the hardware and software of the redundant control scheme is introduced in detail in this paper.In the aspect of hardware,synchronous module,communication module,detection module and switch module are designed with DSP TMS320F28335 as the main control chip and the ruling mechanism of the hot backup mode.Switching control is focused on,and it is realized by the combination of the external double four bit binary counter,the double trigger single stable trigger and the multi-channel analog switch.In the aspect of software,data acquisition module,synchronization module,information sharing module,fault detection module and switch module are designed with CCS as the development tool.In view of the shortcomings of the previous fault diagnosis based on analytical redundancy,the improved fault diagnosis method is put forward and a more detailed judgment of fault is realized.To solve the problem of the possible oscillation in the switch,the Sigmiod soft switching structure is introduced to realize the smooth switching of the system.A PID control algorithm based on improved RBF neural network is designed to realize the precise positioning of the gun barrel.Finally,in order to verify the redundant control system,the ISO-actuation balance and positioning electro-hydraulic servo system is debugged.The key modules of fault detection and redundant switching are verified and the whole system is also verified.The experimental results show that the system has good performance and the control strategy can meet the expected requirements of the system. |
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