Research On The Stability Control Of The Firing Line Of The Shipborne Artillery Follow-up System

With the development of military science and technology as well as the progress of society,the performance of the carrier-borne artillery firing line is increasingly required to be more stable.When the carrier-borne artillery is firing on the sea,it will be disturbed by wind,wave,air flow,gas flow and the change of loading quantity,which result in the change of the moment of inertia of the load and lead to the change of the system model;Furthermore,the body of the ship swaying will cause launch platform and launch tube to produce vibration,which results in the deviation of the firing line.Therefore,this paper considers the stability of firing line from two aspects.On the one hand,for the influence of launching device on firing line,we adopt the transformation method of geodetic coordinate system and turret coordinate system to keep the firing line undisturbed regardless of the vibration of the launcher.On the other hand,for the disturbance of sea wind and waves or uncertain parameters,we established the mathematical model of the servo system of carrier-borne artillery and we also designed two kinds of non singular sliding mode position loop controllers with different switching gains.This paper is based on the research work of a carrier-borne artillery,the main research work includes the following aspects.In view of the influence of the launching device on firing line,we propose the transformation method of geodetic coordinate system and turret coordinate system to keep the firing line undisturbed regardless of the changes of the vibration of the launcher.Based on the mathematical equation of PMSM and the characteristics of position loop of AC servo system,we built the mathematical model of the servo system of the carrier-borne artillery.Then this paper analyzes the interference factors and uncertainty of the servo system of the carrier-borne artillery,and paves the way for the research and design of the control strategy of the servo system in the next chapter.Aiming at the complex nonlinear and uncertain factors such as wave interference in the shooting process,a non singular terminal sliding mode controller for carrier-borne artillery is designed.The RBF neural network adaptive method is designed to approach the uncertain parameters in the equivalent control term of the sliding mode control.Then,we apply fuzzy control to our switching control of sliding mode control to reduce chattering.However,due to the lack of self-learning ability of fuzzy control,a switching gain of fuzzy neural network control and regulation system is designed.At the same time,a extended state observer(ESO)is designed to eliminate the external interference.Finally,the performance of the two position loop controllers is compared by simulation,and the results show that the performance of the latter is better.For a further step,we build the experimental platform of the position servo system for carrier-borne artillery in this paper to test its effect when it is used in the reality project.By comparing the position loop control based on the fuzzy sliding mode and the position loop control based on the extended state observer(ESO)fuzzy neural network sliding mode,the verification results show that the two control methods can achieve our stable target for firing line,but the position loop control based on the ESO fuzzy neural network sliding mode which is applied to the servo system for carrier-borne artillery has a higher control accuracy.