Research On Identification And Position Control Of An Artillery High-level Electro-hydraulic System

The electro-hydraulic system of elevation equilibrator is a significant part of one artillery servo system,whose function is to drive the barrel to pitch.It consists of mechanical parts,hydraulic system and electronic control system,which is a typical electro-mechanical and hydraulic integrated system.Because the elevation equilibrator system itself has the characteristics of nonlinear,mismatching and parameters time varying,it's hard to control using the traditional linear method.Based on the theory of multiple linear regression,particle swarm optimization,back-stepping method,sliding mode control,fuzzy PID control,dynamic surface control and K-observer theory,fuzzy control theory and adaptive control theory,this paper combines the methods of dynamic analysis,parameter identification,controller design,co-simulation and experimental verification.This paper mainly contains the following six parts:1)The structure and working principle of the elevation equilibrator hydraulic system are introduced in detail.The mathematical model of the system is built by some reasonable simplification and assumptions,and the state equation of the system is obtained.2)In order to be show to the actual characteristics of the system closer,the physical model of the system is established by AMESim,and the rationality of physical model is proved by PID.3)The problem of parameter identification is transformed into a multiple linear regression problem,and some key unknown parameters such as servo valve gain,elastic modulus and comprehensive leakage coefficient are identified by improved particle swarm optimization.4)Aiming at the working characteristics and control requirements,the trajectory planning is designed for the two desired angles of 30 and 60 respectively.5)According to the disadvantages of non-linear mismatching and time-varying,fuzzy PID controller,dynamic surface controller and dynamic surface controller based on K observer are designed respectively.The effectiveness of the designed controllers are verified by the method of co-simulation method and comparison with traditional PID method using the software of AMESim and Matlab.6)The experiment platform is built.Limited by the experiment conditions,the trajectory of desired angles of 15 is designed.By compile the control program,the effects of the DSSMC is verified.The experimental results show that DSSMC strategies can meet the actual program conditions.