Underwater missile launch well lid flatness sliding mode composite control method

Abstract

The invention discloses an underwater missile launching well lid flatness sliding mode composite control method. A flatness sliding mode composite controller is designed by establishing a kinetic model of an electro-hydraulic servo system of an underwater missile launching well lid opening device and establishing a state equation of the electro-hydraulic servo system according to the kinetic modeland the state equation of the electro-hydraulic servo system. A flatness design method is embedded into the sliding mode controller, and compared with a traditional sliding mode controller, repeatedderivation of displacement feedback signals is avoided, so that the design of the controller is simplified, and the tracking precision of the system is improved.

Description

technical field [0001] The invention relates to a sliding mode compound control method for the flatness of an underwater missile launch shaft cover, which belongs to the technical field of automatic control. Background technique [0002] Sea-based ballistic nuclear missiles are the country's most important secondary nuclear counterattack force. They are usually mounted on strategic nuclear submarines and carry out strategic cruises underwater all year round. They have the advantages of strong concealment and strong survivability. In terms of battlefield survivability and strike efficiency, strategic nuclear submarines have greater advantages over land-based intercontinental missiles. All countries still regard the possession of modern submarines as the most basic requirement for modern naval military power. Therefore, strategic nuclear submarines have always been favored by navies of various countries. highly valued. [0003] Among them, the opening device of the underwater...

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Problems solved by technology

[0004] At present, the opening device of my country's submarine underwater missile silo cover mainly uses a hydraulic system to drive the silo cover, which requires the silo cover to be opened before the missile is launched and closed after the launch. The opening device of the vertical launch shaft cover of the lower missile has parameter uncertainty, time-varying load and strong nonlinear motion during the movement with the submarine, and the frequent opening and closing of the electro-hydraulic reversing valve on the pipeline will cause excessive back pressure in the oil return pipeline. High or hydraulic shock, these factors will affect the timing accuracy and motion smoothness of the silo cover opening and closing

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