High-precision anti-interference control method for an unbalanced gun barrel
A control method and unbalanced technology, applied in electric controllers, controllers with specific characteristics, etc., can solve problems such as insufficient system control accuracy and unsatisfactory system interference suppression, so as to improve system control accuracy and strong suppression ability Effect
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[0039] The specific implementation steps of a high-precision interference position control method based on ADRC-PID cascade control based on ADRC-PID cascade control are as follows:
[0040] The first step, analyzing the composition structure and working principle of non-balance barrel pitch system, establishing mathematical model of non-balanced gun tube pitch electro-hydraulic servo system in consideration of actual road conditions:
[0041] Set θ 1 And θ 20 The angle of the barrel relative to the carrier rotation around its rotation axis and the angle of the carrier turn around the rotary shaft relative to the inertial space, the angle of the barrel relative to the inertial space winds the rotary axis:
[0042] θ = θ1 + θ 20
[0043] Further, the torque equalization equation of the hydraulic cylinder and the load output by θ is obtained:
[0044]
[0045] Where m is the hydraulic cylinder output torque, J is the rotational moment of the barrel relative to the ear axis, B m I...
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