Accurate Positioning Control And Experimental Research Of An Automatic Loading Manipulator

The automatic loading manipulator is an important part of the automatic loading system of artillery.The position tracking precision,positioning control precision,speed and stability of the automatic feeding manipulator directly affect the whole process wheather or not be carried out efficiently and smoothly.This paper takes the automatic loading platform of a gun as the background.The problem of position tracking and positioning control in the course of movement of automatic loader manipulator is mainly discussed.Using Adams,Matlab software,the dynamic modeling,control strategy research of gun automatic loading manipulator are carried out.Adaptive dynamic surface sliding mode control is proposed and a series of engineering experiments are carried out.In the end,good control effect is obtained.The main contents of this paper are as follows:(1)The composition and working principle of gun automatic loading manipulator are introduced correspondingly.And according to the motion characteristics of the automatic loader manipulator,the corresponding dynamic equations are established for theoretical analysis.The dynamic model is established by using Creo and Adams software,and the trajectory planning,position tracking control and positioning control of the virtual prototype of the automatic loader manipulator are carried out by combining the PID control module in Adams and the MATLAB simulation.Through the analysis of the results,the motion performance of the virtual prototype of the manipulator is analyzed,which provides a reference for the design of the control strategy.(2)An adaptive dynamic surface sliding mode control algorithm is adopted to control the position of the projectile for automatic loading manipulator of gun.The stability of the closed-loop manipulator control system is proved by defining the Lyapunov function.The dynamic surface control method based on first-order integral filter calculates the derivative of virtual control,eliminates the expansion of the differential term,simplifies the controller design and parameter estimation.The adaptive control law is used to estimate the uncertainty and external disturbances of manipulator position control.Sliding mode control suppresses the influence of the parameters changing such as inertia of the model and external disturbances.Through the simulation of MATLAB,analyses the key curve of the position error,system input and parameter adaptation.The results show that this method has higher precision and better robustness.(3)The control experiment platform of a gun automatic loading manipulator is built.According to the designed sliding mode control algorithm,the position tracking control and position control experiment of the moving track are carried out.The experimental results show that the adaptive dynamic surface sliding mode control strategy which applied to the gun automatic loading manipulator control system has high dynamic tracking accuracy and high steady state positioning accuracy.