Homology Balance And Positioning Control Of A Weapon Electro-hydraulic Servo System

The novel electro-hydraulic servo system is a typical electro-hydraulic servo control system,which has iso-actuation balance and positioning control.Some artillery with unbalanced quality,which makes the system produce unbalanced force.This phenomenon seriously restricts the high-precision positioning control of the barrel and can't meet the requirements of modern warfare for high precision positioning of artillery.In this paper,a control method is put forward,which is called the iso-actuation balancing and positioning of the gun barrel.This method is based on electro hydraulic servo control system,which uses three chambers dynamic hydraulic cylinder to achieve the high precision and smooth positioning control of the gun barrel.According to the requirements of the system,the electro hydraulic servo system with iso-actuation balancing and positioning control was designed.The design includes structure,hydraulic circuit,hardware drive circuit and the system control software.At the same time,the transfer function and mathematical model of the system were established and analyzed by MATLAB simulation.This paper mainly studies the high-precision positioning control of the barrel.For the requirements of high-precision positioning control of the unbalanced barrel,fuzzy adaptive fractional order PID controller(FAFOPID)is adopted to realize the precise positioning control of the barrel and achieve the target requirement of the system positioning control.For unbalanced barrel balancing control requirements,the PID controller is used to realize the active balance compensation of the unbalanced force of the barrel and achieve the system balancing control requirements.In order to verify the control performance of FAFOPID acting on the electro hydraulic servo system with iso-actuation balancing and positioning control,a semi physical experiment was carried out.The analysis and experimental results show that compare with FOPID,the response time of FAFOPID acting on the system is shorter,and the steady-state error of FAFOPID is smaller,and it meets the system performance requirements.Therefore,FAFOPID is more suitable for the electro-hydraulic servo control system.