Research On Positioning Control Of A Certain Artillery Rotary Automatic Magazine

The rotary automatic magazine is developed based on a new pre-research project,and the automated magazine is an important part of the project.The control precision of the rotary automatic magazine has a vital impact on the smooth completion of the entire shooting task.The rotary automatic magazine adopts the vertical magazine design,and the rotation accuracy determines whether the robot can successfully complete the acquisition bomb.Therefore,the control accuracy and stability of the rotary automatic magazine determine the firing performance of the gun.In this paper,the related motion positioning control problem of the vertical rotary automatic magazine is studied.In this paper,the three-dimensional modeling of the rotary automatic magazine is combined with the multi-body dynamics related knowledge theory.The ADAMS software is used to analyze the dynamics of the magazine,and the magazine is analyzed under the state of the gun carrier and the fixed state of the gun carrier Kinetic characteristics.The permanent magnet synchronous motor is used as the control object for simulation,combined with ant colony optimization algorithm,adaptive control and improved approximate variable structure control to simulate the positioning control of the magazine and the experimental research combined with the magazine bench.The results of the positioning accuracy of Adams/simulink joint simulation and magazine bench test prove that the control method adopted in this paper has high precision and strong robustness.The main research results of this paper include the following:(1)Introduce the structural composition of the rotary automatic magazine and introduce the work flow of the magazine.At the same time,theoretically analyze the factors such as the change of the load of the magazine in the motion control process of the rotary automatic magazine,the control precision of the magazine and the vibration of the magazine influences.(2)Three-dimensional modeling of the rotary automatic magazine and its dynamic analysis.Using ADAMS software to analyze the dynamics of the automated magazine,consider the influence of the external vibration of the automated magazine on the gun loading during the gun’s travel,and consider the effect of the polygon effect of the chain drive on the positioning control of the magazine.Reduce its impact on control accuracy.(3)According to the control requirements of the rotary automatic magazine,through the optimization and improvement of the ant colony optimization algorithm,combined with the adaptive algorithm and the improved approximate variable structure control,the control research of the automatic magazine is carried out,using MATLAB/SIMULINK simulation software to The proposed control method is simulated,and the simulation results are compared with the SIMULINK simulation results of sliding mode control and PID control.The control method proposed in this paper proves the robustness and high precision of the automatic magazine positioning control.(4)Build an automatic magazine control test bench,apply the control algorithm proposed in this article to the motion control of the automatic magazine test bench,collect relevant experimental data,and prove again that the control strategy proposed in this paper is suitable for automatic magazine positioning The control has strong robustness and high precision.