Full-closed-loop interference rate compensation self-stabilization control method under geodetic coordinate system

Abstract

The invention provides a full-closed-loop interference rate compensation self-stabilization control method under a geodetic coordinate system. The full-closed-loop interference rate compensation self-stabilization control method comprises the steps that a course angle, a pitch angle and a roll angle of an SINS are gathered, and a high-low angle and an azimuth angle of an artillery are gathered; angular velocity values of an SINS gyroscope group, a turret gyroscope group and a vehicle body gyroscope are gathered, interference angular rates in an azimuth direction and a high-low direction under the geodetic coordinate system are extracted, and filtering correction is performed to obtain azimuth and high-low compensation angular rate control quantities; the stable control rate control instruction and the interference compensation angular rate control instruction are combined to serve as a servo drive speed total instruction; and high-low and azimuth servo drivers gather respective motor angular rates, perform high-order sliding mode speed control strategy calculation according to the speed control instruction to obtain a current loop control instruction and drive motors to control artillery turning motions according to a given control quantity. The full-closed-loop interference rate compensation self-stabilization control method under the geodetic coordinate system has the advantages of being high in response bandwidth, accurate in interference rate compensation and the like, and the artillery barrel pointing high-precision stability under the condition of a movable base seat large firing angle is realized.

Description

technical field [0001] The invention belongs to the field of artillery stabilization control systems, and mainly relates to an accurate and stable artillery follow-up system control method under a high dynamic dynamic base. Background technique [0002] With the development and evolution of military struggles, new military operational requirements urgently require suppression weapons to have the ability to shoot on the move, and self-propelled artillery is required to be able to perform combat tasks of action vs. static and dynamic vs. action. Then the artillery needs to be under the control of the aiming stabilization system to overcome the disturbance caused by the vehicle body due to the walking road and keep the artillery pointing stable. Such functions have already been realized in the gun control systems of tank weapons or amphibious assault guns. [0003] The patent "Control Method of Gun Aiming Stabilization System Using Strapdown Inertial Navigation" is applied to ...

AI Technical Summary

Problems solved by technology

However, it was found in the project that the traditional suppressed artillery has undergone certain adaptation and improvement to achieve self-stabilization of the artillery at a large firing angle. The barrel-pointed strapdown inertial navigation is used as the stability of the position full-closed loop control system, causing small error jitter, and the backlash "shock vibration" phenomenon is obvious

The turret rate and the vehicle body rate are estimated by the gyro installed in the strapdown inertial navigation at the control end. Due to the influence of transmission backlash and stiffness, it will carry additional interference angular velocity generated by resonance, and the calculation result is difficult to meet the use requirements.

Therefore, it is difficult for this method to achieve precise and stable aiming in a high-dynamic environment when using a traditional high-speed motor combined with a low-performance reducer.

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