Research On The Movement Control Of The Horizontal Chain Drive Silo

The horizontal chain drive gunpowder storage mechanism is an important part of a new type of ammunition auto-loading system.Whether it can be quickly and accurately located,to a large extent,determines the filling performance and stability of the automatic filling system.In this paper,a control method combines sliding mode control,boundary layer,adaptive control and neural network control is proposed which is based on the analysis of magazine dynamics and related theories of chain drive.It is proved through software simulation and experiment that its performance is greatly improved compared with the traditional control method.The main achievements of this paper include:(1)First of all,introduce the structure and work flow of the horizontal chain drive gunpowder storage mechanism.According to theory and practice,it is pointed out that the instability of chain drive and the time-varying load are the main problems that affect the control precision of the gunpowder storage mechanism.(2)Combined with the structural characteristics of the gunpowder storage,the dynamic analysis is carried out to derive the gunpowder storage's dynamic equation,and the polygon effect of the chain transmission is deeply studied.The formula of the variation of the chain speed and the additional dynamic load with the meshing angle is obtained.The correctness of the formula is proved by the three-dimensional modeling and dynamics simulation.(3)According to the control requirements of the gunpowder storage,BSMC and RBF-BSMC control methods were designed and simulated respectively by Simulink software.Compared with the traditional PID control,it is proved that the control performance of the two new control methods is more suitable for the control of the gunpowder storage.A joint simulation is carried out to verify the feasibility of the control method.(4)The experiment platform of the gunpowder storage was built,and the corresponding experimental verification of BSMC method and RBF-BSMC method was also made.The conclusion shows that both control methods can meet the accuracy requirements of the gunpowder storage.In contrast,the RBF-BSMC is more robust and less sensitive to load changes,and is more suitable for the control of the gunpowder storage.