Modelica-based turret-artillery inter-axis coupling nonlinear modeling and system simulation method

Abstract

The invention provides a Modelica-based turret-artillery inter-axis coupling nonlinear modeling and system simulation method. The Modelica-based turret-artillery inter-axis coupling nonlinear modelingand system simulation method comprises the steps: simplifying a hypothesis and turret-artillery connected coordinate system through the actual structural features and motion characteristics of a turret-artillery physical system, and determining the origin position of a muzzle coordinate system; establishing a nonlinear coupling dynamics mathematical model of the turret-artillery power system; independently dividing a turret and an artillery into a module and independently modeling the turret and the artillery, dividing related quality and geometrical parameters of the turret and the artilleryin the modeling process into an independent module, and establishing an independent model for connection packaging; and finally, designing a turret-artillery inter-axis coupling PID controller basedon the Modelica language, and analyzing and optimizing dynamic characteristics and comprehensive performance of a turret-artillery system. The Modelica-based turret-artillery inter-axis coupling nonlinear modeling and system simulation method can reflect dynamic characteristics of the turret-artillery inter-axis coupling nonlinear model.

Description

technical field [0001] The invention belongs to the technical field of cannon barrel pointing control, in particular to a Modelica-based nonlinear modeling and system simulation method for coupling between turret and cannon axes. Background technique [0002] In order to meet the needs of the current war, high-quality, high-stability, high-precision artillery has been developed to a certain extent. Artillery plays an irreplaceable role in the entire military system of our country. The artillery barrel pointing system is the key to the entire artillery The component part, the turret-cannon in the gun barrel pointing control system is mainly used to realize the azimuth and pitch attitude adjustment and follow-up tracking of the gun. As the turret-cannon system is a system with complex coupling between axes, the modeling of the turret-cannon power system is actually relatively difficult. The turret and artillery parts on the car body are large and complex assembly parts, and th...

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Problems solved by technology

The modeling of the turret-cannon power system is actually relatively difficult. The turret and artillery parts on the car body are large and complex assembly parts. The deformation of the components or the change of the spatial position of the rotating shaft will cause errors in the dynamic model. The coupling between the artillery seriously affects the performance of the turret-artillery. Failure to propose an effective solution to the coupling between the turret-artillery will directly affect the effect of control tracking; for the research on the gun barrel pointing control system, due to the - There are many non-linear factors such as dry friction between guns, saturation characteristics of the drive system, and gap nonlinearity in transmission components. Previous studies have not fully and effectively considered the strong nonlinear factors in the turret-gun system; traditional simulink-based The established turret-cannon models failed to consider both the coupling of the system and the nonlinear factors between axes. At the same time, the PID controller in simulink failed to give the model stable and accurate control, and the parameter setting of the PID controller also had certain limitations. , leading to large errors in simulation verification, affecting the dynamic characteristics and comprehensive performance of the system

It can be found that our research on the control of the nonlinear dynamic system of the turret-cannon is only preliminary and incomplete. Therefore, the traditional modeling methods and modeling platforms have great engineering limitations and cannot Propose a method to effectively solve the interference caused by the turret-cannon interaxial coupling and nonlinear factors

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