| In modern warfare,rocket weapons still play an important role.In a complex and changing war environment,the time and automation of rocket weapon loading have become important factors in its survivability.In order to ensure the rocket weapon’s mobility on the battlefield and improve its own survivability and ability to attack the enemy,rapid reloading is an inevitable requirement for the future development of rocket weapons.This thesis takes the rocket weapon heavy-duty loading manipulator as the research object,and carries out research work in the following aspects.(1)Use Adams to perform dynamic analysis on the overall movement of the manipulator.Based on the results of dynamic analysis of the manipulator under different working conditions,get the force situation of the joints of the upper and middle arms of the manipulator under extreme conditions.Abaqus performs static analysis and topology optimization on the upper and middle arms of the manipulator.Based on the results of the topology optimization,the structure of the mechanical arm is redesigned,and the static analysis of the redesigned structure is performed to prove the feasibility of the topology optimization results.(2)Aiming at the periodic tasks performed by the heavy-duty loading manipulator,a robust adaptive repetitive control strategy based on hydraulic servo system is proposed,and the Fourier series is used to approach the periodic modeling uncertainty in the hydraulic servo system.The robust feedback term of error symbol integral is used to suppress the non-periodic modeling uncertainty in the hydraulic servo system.The state of each order of the position command signal is observed by an observer.The designed control strategy is simulated with MATLAB / Simulink software to verify Effectiveness of control strategies.(3)Aiming at the inherent elastic vibration problem of the manipulator,the upper arm is simplified into an Euler-Bernoulli beam with a fixed end point.The flexible arm and the hydraulic servo system in the heavy-duty loading manipulator are dynamically modeled.The singular perturbation method is used to convert the power The learning equation is decomposed into a fast-changing subsystem and a slow-changing subsystem.For the fast-changing subsystem,the PD controller is used for angle tracking control.For the slow-changing subsystem,an optimal controller is designed to suppress the end vibration.Finally,the designed The control strategy is verified by simulation.(4)The experimental platform of the hydraulic servo system is used to verify the robust adaptive repetitive control strategy designed in this thesis.The feasibility and effectiveness of the designed control strategy are illustrated by analyzing the experimental results and comparing with the traditional control methods. |
