Research On The Electromechanical-hydraulic Integration Simulation And Control Strategy Of The Position Servo System Of An Artillery Leveler

The position servo system of elevating equilibrator is a complex electro-hydraulic coupling system,composed of mechanical,hydraulic and electronic control subsystems,is an important part of the automatic gun adjustment system of a certain artillery.The research of the system motion characteristics and suitable position control strategy are helpful to improve the reliability,stability and accuracy of gun adjustment of elevating equilibrator.In this thesis,the position servo system of a certain artillery elevating equilibrator is taken as the research object.The related problems of the system are deeply studied by using multi-domain modeling methods,electromechanical hydraulic integration simulation technology,combined with differential evolution optimization algorithm,control theory of backstepping,disturbance observer,adaptive and dynamic surface.The main research contents are as follows:1)The composition,working principle and working process of semi-automatic and automatic gun adjustment of the system are introduced in detail.The equivalent mathematical model of the system is established and the state space model is derived.2)The virtual prototype model of the mechanical subsystem,the simulation model of the hydraulic subsystem including complex non-standard components and the electronic control simulation model are established by using professional simulation software in three fields.The integrated simulation technology is effectively used to realize the interactive simulation between complex coupling systems.3)The system test platform is built and the simulation and test output data under the same environment are compared.The results show the accuracy of the model,which can provide reference for the simulation of weapon electromechanical hydraulic integration system.The influence of three factors on the dynamic characteristics of the system is analyzed.The results show that the increase of back pressure will reduce the stability of the balance circuit,and the internal discharge of the oil cylinder and the change of oil temperature will reduce the control accuracy of the automatic gun adjustment,which provides a theoretical reference for the related problems in the field debugging process.4)Aiming at the characteristics of the system,the ECOBSC and BSADSC are designed respectively.The performance of the controller under multiple firing angles is verified by integrated simulation.The results show that when the two kinds of controllers are faced with different dynamic characteristics of up and down multiple firing angles,the disturbance observer can compensate reasonably and the adaptive parameters can be adjusted online quickly and the pressure is stable.5)In the model,multiple groups of cylinder internal leakage and oil temperature change conditions are set up,and BSADSC can realize effective compensation and has a certain precision of gun adjustment control.The designed control strategy(ECOBSC)is verified by experiments,the control performance is analyzed,and the shortcomings are explained.