Research On Multi-motor Coordinated Control Of Solid Rocket Box Launching System

For the past few years,with the research and progress of box-type launch systems of various countries,on military industry,we uphold the spirit of self-reliance and strong military of science and technology,and strive to catch up with and surpass high-level weapon technology of foreign countries and develop a certain solid rocket box-type launch system.Among them,the multi-motor coordination control strategy involved in the electronic leveling mechanism of the launch pad is an important link to realize the leveling control requirements of the launch pad,which has crucial research meaning for the national defense construction of ensuring the rapid leveling and stable launch of the rocket body of the solid rocket box launching system.This paper first introduces the components and work flow of solid rocket box launch system and extends to the importance of electronic leveling mechanism on launch pad for achieving stable leveling and fast launch of rocket body.Then,in view of the requirements of the launch pad leveling control with short leveling time,high control accuracy and strong anti-overturning ability,as well as the limitations of the inner space of the launch box and the working environment of the arrow body,the selection design of the driving component and measuring component of the electronic leveling mechanism of the launch pad is completed,which lays a good hardware foundation for the subsequent research.The performance index and structure flow of multi-motor coordinated control are studied and analyzed.Simulation models are established for parallel independent,master-slave,cross coupling,ring coupling and virtual spindle control structures,and the results show that the virtual spindle control structure has better control efficiency and disturbance resistance than other control structures.In the research of virtual axis control structure on the basis of a variety of motor coordination control algorithm,applying all synchronous motor speed and speed under the disturbance of observation error and the result comparison analysis.The results show that combined with the virtual spindle control structure and the improved approach law sliding mode control algorithm,the multi-motor coordinated control strategy with good control effect and performance is established.Finally,on the basis of the selection of driving measurement components and the determination of multi-axis leveling control strategy,the controller hardware and software design and leveling performance test are completed to ensure that the electronic leveling mechanism of the launch pad of the solid rocket box launching system can work stably and reliably in the actual environment.The research shows that the multi-axis leveling control strategy has good control efficiency and disturbance resistance,and achieves the leveling control requirements of short leveling time,high control accuracy and strong anti-overturning ability.