Coordinated Control Of Ammunition Supply System Based On Machine Vision

Ammunition feeding system is one of the key component to improve performance and reliability of the automatic weapon.External energy weapon has the advantages of easy control,good reliability,and convenient maintenance.With new requirements such as multi-munition feeding and intellectualization,research on innovative cooperative control system for ammunition feeding system is an engineering research direction with practical significance.In this paper,a three-level collaborative control system with GUI based on machine vision is designed for the ammunition feeding system in the vehicle automatic gun.This gun uses two PMSMs as external energy input.Aiming at the requirement of visual identification of multi-munition,structure of ammunition can has been redesigned.To design the driving unit of PMSMs,STM32F103 MCU and MOSFET are used as cores.Using STM32F429 MCU,an intermediate control module with CAN bus and serial communication capability for cross-coupled control is designed.A multi-munition visual identification algorithm based on contour matching is developed by using OpenCV,a computer vision library,and applied to the cooperative control program of ammunition feeding system with HMI.To verify the feasibility of the scheme,this paper designs a series of simulation and experiments.In order to verify the rationality of the structure,the simulation using virtual prototyping and finite element tools is established.To test the performance of single-motor servo control and verify the dual-motor coupling control algorithm,the simulation based on MATLAB is carried out.To verify the actual performance of the dual-motor system,an experimental platform is designed and built.By using this experimental platform,the effectiveness of the ammunition identification program based on machine vision has also been verified.Finally,In order to check the effect of the three-level control system,the operation logic experiment is also carried out.The results of simulation and experiment indicate that the system is feasible and easy to use.It has certain reference value for the design of new intelligent ammunition feeding system or other similar electromechanical system.