Steering engine multi-source information fusion anti-clamping stagnation control method suitable for cannon shooting environment

Abstract

The invention discloses an electric steering engine shock resistance control algorithm suitable for a gun shooting environment, and belongs to the technical field of steering engine control. In order to solve the problems of steering engine gear extrusion deformation and control failure caused by transient high overload in the gun shooting process, a multi-source information fusion decision module is introduced on the basis of a double-closed-loop control architecture. The core of the method is that an acceleration characteristic dominant decision is utilized, and the response delay of a sensor is dynamically adjusted by constructing an impact time delay self-adaptive compensation function, so that accurate time sequence prediction of impact moment is realized; and meanwhile, an active micro-motion clamping stagnation detection mechanism based on touch instant return logic is established, the steering engine is driven to perform high-precision micro-amplitude swing within a preset angle range, and mechanical stress is actively recognized and released by monitoring current abnormal feedback. Clamping stagnation and damage of the internal structure of the steering engine under strong impact can be avoided from the source, and the survivability and control precision of a weapon system in an extreme environment are remarkably improved.

Description

Technical Field

[0001] This invention belongs to the field of servo motor control technology, specifically a servo motor multi-source information fusion anti-jamming control method suitable for artillery firing environments. It addresses the problem of transient impact control of electric servo motors in artillery firing environments and is mainly applied to the impact control of servo motors during the launch process of weapon systems such as shells and missiles. It aims to solve problems such as deformation of internal gears and shaft structures, sudden drop in control accuracy, or even failure caused by high overload and strong transient impact during artillery firing, and ensure the stable operation and precise control of servo motors under extreme impact environments. Background Technology

[0002] As a core actuator of a gun-launched weapon system, the reliability and control accuracy of the servo motor under the transient impact environment of gun firing directly determine the weapon's hit accuracy and combat effectiveness. During gun firing, the servo motor must withstand instantaneous overloads of tens of thousands of times the force of gravity and high-frequency impact loads. Traditional control algorithms struggle to cope with nonlinear disturbances, parameter mutations, and structural response delays under such extreme conditions. Currently, various technical solutions for servo motor shock resistance control algorithms have been developed both domestically and internationally, but significant limitations remain in addressing the transient strong impacts and mechanical jamming protection under gun firing conditions.

[0003] Specifically, existing technical solutions are inadequate in terms of model adaptability, real-time response, and active protection mechanisms. Existing algorithms mostly rely on precise idealized models or specific mechanical structures, making it difficult to adapt to parameter mutations caused by gun firing impact. For example, although patent CN110793405A proposes adaptive sliding mode control based on a rigid-flexible coupling model, it relies on prior knowledge of the specific structure of the folding rudder. Moreover, the high-frequency chattering of sliding mode control is prone to aggravating mechanical wear under strong impact. Patent CN111273548A uses a third-order servo motor model for control, but at the moment of gun firing, the friction coefficient, damping, and other physical parameters of the servo motor will undergo nonlinear mutations, resulting in serious distortion of the accuracy of the model designed based on fixed parameters, which in turn leads to a sharp decline in control performance. Strategies designed for low-dynamic scenarios suffer from response lag, failing to meet the real-time requirements of artillery firing environments. For example, the robotic arm collaborative control in patent CN107309872B is limited by communication latency, and the neural network control in patent CN115390441A is limited by the convergence speed of online learning. Both lack rapid response and latency compensation mechanisms for millisecond-level transient impacts. Existing technologies generally lack active protection and stress relief mechanisms for mechanical structures. For instance, trajectory planning methods such as those in patent CN111203870A only reduce start-stop impacts by smoothing curves, falling into the category of passive planning. They cannot detect sudden external strong impact torques, nor do they possess active jamming detection and stress relief strategies when strong impacts cause gear extrusion risks.

[0004] In summary, existing patents still have many limitations in servo control under transient impacts in gun-firing environments. Some algorithms are based on static ideal models and lack real-time compensation capabilities for drastic changes in model parameters and nonlinear disturbances caused by gun-firing impacts, making them prone to model mismatch problems. In high-overload transient environments, the physical lag of sensors and the computational time of algorithms lead to delayed control commands, preventing the system from responding synchronously with the impact disturbance. Furthermore, some algorithms lack active detection and stress relief mechanisms for potential mechanical jamming or hard gear contact, resulting in low servo survivability under strong impacts. Therefore, this invention proposes a servo shock-resistant control method based on multi-sensor information fusion, suitable for gun-firing environments, to solve the above problems. Summary of the Invention

[0005] To address the problems of deformation of internal gears and shaft structures, sharp drop in control accuracy, or even failure caused by instantaneous overload of tens of thousands of times the gravitational acceleration and high-frequency impact load during gun firing, this invention provides a multi-source information fusion anti-jamming control method for servo motors suitable for gun firing environments, achieving stable operation and precise control of servo motors under extreme impact conditions.

[0006] This invention is achieved using the following technical solution: a multi-source information fusion anti-jamming control method for servo motors suitable for gun firing environments, comprising the following steps:

[0007] S1: Configure servo controller parameters based on the electromechanical coupling dynamics model of the servo motor that includes the gun firing impact torque;

[0008] S2: Real-time acquisition of servo motor acceleration, motor armature current, and actual servo angle via accelerometer, current sensor, and position sensor;

[0009] S3: Based on the collected acceleration, motor armature current and actual rudder angle, multi-source information fusion decision is performed in the servo controller. This decision includes impact delay adaptive compensation, trend prediction based on acceleration characteristics, micro-motion jamming detection and active force relief.

[0010] S4: The anti-jamming correction command generated by the multi-source information fusion decision is superimposed on the speed ring slip mode controller to drive the servo motor to perform anti-impact actions.

[0011] This invention, based on the traditional dual closed-loop control architecture of position and velocity loops, introduces an independent multi-source information fusion decision module. This module, by fusing real-time feedback signals from acceleration and current sensors, constructs a mechanism that includes adaptive impact delay compensation, trend prediction based on acceleration characteristics, and micro-motion jamming detection and active force relief. Its core technical concept lies in using acceleration signals to predict the impact torque in advance, and combining this with current feedback to perform real-time jamming detection of the mechanical structure's stress state. This allows the servo motor to actively perform force relief or avoidance actions before the impact reaches its peak value.

[0012] To address the potential lag in sensor signal processing under high overload conditions, this invention designs an adaptive impact delay compensation mechanism. The system constructs a time constant function relating impact intensity (acceleration) to the degree of current anomaly. Based on the real-time monitored magnitude of acceleration and the degree of current deviation, the system dynamically and adaptively adjusts the delay compensation parameters. When a strong impact or high current anomaly is detected, the system automatically reduces the delay time constant, achieving precise synchronization between control commands and physical impact, thereby ensuring the real-time performance and effectiveness of unloading and jamming detection actions.

[0013] The aforementioned servo motor multi-source information fusion anti-jamming control method suitable for gun-firing environments, wherein the adaptive compensation for impact delay in step S3 is calculated using the following formula: In the formula, For real-time adaptive delay time, Based on the fundamental delay constant, For acceleration magnitude, The degree of current abnormality, and This is for adjusting the coefficient.

[0014] This invention utilizes real-time signals from an accelerometer to analyze the direction and rate of change of the impact load. When the system predicts that the external impact torque is about to change drastically, the control strategy will shift from position tracking to acceleration characteristics. Based on the vector direction of the acceleration, the system prioritizes generating a reverse unloading command, driving the servo motor to quickly adjust in the direction of reduced force. This ensures that the motor shaft and gears are in a state of low or no force during a strong impact, preventing mechanical jamming at the source.

[0015] The aforementioned servo motor multi-source information fusion anti-jamming control method suitable for gun-firing environments, specifically the trend prediction based on acceleration characteristics in step S3, involves: calculating the real-time adaptive delay time... Afterwards, the system will enter the trend prediction stage, performing logical branch judgments. On the one hand, it will monitor the rate of change of the acceleration signal in real time, and when it detects... When the rate of change increases sharply and the amplitude exceeds the preset safety threshold, the system determines it to be a strong impact trend and immediately generates a high-priority reverse unloading command. , In the formula, For symbolic functions, This is the impact strength proportionality coefficient. For the impact trend differential coefficient, It is the rate of change of acceleration; on the other hand, during periods of non-strong impact or in suspected jamming conditions, it enters the micro-motion jamming detection and active unloading stage.

[0016] To prevent the servo motor from jamming due to latent stress during static or low-speed movement, this invention designs a micro-motion jamming detection and active force relief strategy. Under the impact of artillery firing, the controller drives the servo motor to continuously reciprocate micro-amplitude oscillations within a preset micro-angle range with extremely high time and position resolution. The system synchronously monitors the changes in motor current in real time. When the current in a certain micro-motion direction exceeds the theoretical torque threshold corresponding to that motion state, it is determined that there is mechanical resistance or strong external force compression in that direction. The system then terminates the movement in that direction and quickly switches to the opposite direction. This closed-loop active "probe" mechanism with "touch and return" characteristics achieves the identification and release of the corresponding force.

[0017] The aforementioned servo motor multi-source information fusion anti-jamming control method suitable for gun-firing environments, specifically the micro-motion jamming detection and active force relief strategy, is as follows: the servo motor controller outputs the control quantity according to the following formula: In the formula, The control pulse width instruction representing the current discrete time k. Using the command value from the previous moment, the servo motor is driven to perform micro-motion using this formula. At the same time, the system synchronously collects the instantaneous motor armature current. If the motor armature current is detected Exceeding the preset blocking threshold This indicates that the servo is experiencing mechanical jamming or gear compression. The system will immediately terminate the micro-motion and switch to reverse motion to achieve active protection. At this time, the system generates an anti-jamming correction command. The calculation formula is: In the formula, This represents the direction of the micro-motion at the previous moment. This is the rollback factor. For micro-motion time step, This is the pulse width-voltage mapping coefficient; if the current does not exceed the preset hysteresis threshold... Then, it is further determined whether the preset boundary has been reached, and based on this, it is decided to switch the scanning direction or keep the current direction to continue detection.

[0018] The aforementioned servo motor multi-source information fusion anti-jamming control method suitable for gun-firing environments, wherein the final anti-jamming correction command output by the multi-source information fusion decision is... This can be uniformly represented as a piecewise function determined by the current decision state: By defining this piecewise function, the system can flexibly output targeted correction signals according to different stages of the firing environment.

[0019] The aforementioned servo motor multi-source information fusion anti-jamming control method suitable for gun-firing environments has the following electromechanical coupling dynamic model: In the formula, Represents the equivalent moment of inertia of the servo system. Angular acceleration, This is the motor torque coefficient. For armature current, The viscous damping coefficient is... Angular velocity, The impact torque of the gun firing applied externally.

[0020] The aforementioned multi-source information fusion anti-jamming control method for servo motors suitable for gun-firing environments constructs a dual-closed-loop composite control system including a position loop and a velocity loop. The system first receives the target rudder angle command. Compare it with the actual rudder angle fed back by the position sensor. The position error is obtained by comparison. This positional error The input is sent to the position loop PID controller, which calculates and outputs a virtual speed command. As the tracking target of the velocity loop;

[0021] Subsequently, the signal enters the speed loop control phase, and the fourth-order ESO interference observer acquires the system control voltage in real time. Motor armature current and actual rudder angle Reconstruct and output the total disturbance estimate of the system in real time. and state estimates The speed loop NFTSMC controller operates based on virtual speed commands. The reference control voltage is calculated using the estimated value from the output of the fourth-order ESO disturbance observer. ;

[0022] At the same time, the multi-source information fusion decision output anti-lag correction command The system will issue this correction command. With reference control voltage The voltages are superimposed to synthesize the final control voltage. ;

[0023] The final generated control voltage The voltage is input to the power driver, amplified, and then converted into the actual drive voltage. The motor windings applied to the servo system.

[0024] In summary, this invention can fundamentally prevent jamming and damage to the internal structure of the servo motor under strong impact, significantly improving the survivability and control accuracy of the weapon system in extreme environments. The significant differences and technical advantages of this invention compared to existing technologies are reflected in the following three aspects:

[0025] 1. This invention establishes a detection mechanism that "transforms passive detection into active detection," through... Figure 4 The micro-motion jamming detection and active unloading strategy shown enables active detection of potential jamming, breaking through the limitation of traditional control methods that can only rely on "post-fault correction" after a fault occurs.

[0026] 2. This invention achieves deep complementarity of multi-source information. The decision logic in Figure 3 does not rely solely on current or position signals, but rather leverages the "speed" of acceleration signals in trend prediction and the "accuracy" of current signals in torque feedback to complement each other, thus solving the problem of failure or misjudgment of a single sensor in a complex artillery firing environment.

[0027] 3. To address the challenge of dynamic timeliness under high overload conditions, this method introduces a time delay adaptive compensation formula to dynamically adjust control parameters, thereby solving the problem of control timing misalignment caused by sensor physical lag and ensuring control real-time performance and reliability under extreme conditions. Attached Figure Description

[0028] Figure 1 This is a diagram illustrating the overall architecture of the servo motor shock-resistant control algorithm applicable to gun firing environments in this invention embodiment.

[0029] Figure 2 This is a diagram of the active shock resistance control framework based on dual closed-loop and multi-source information fusion in an embodiment of the present invention.

[0030] Figure 3 This is a flowchart illustrating the multi-source information fusion and anti-gag correction logic of an embodiment of the present invention.

[0031] Figure 4 This is a flowchart of the micro-motion oscillation and jamming detection strategy in an embodiment of the present invention. Detailed Implementation

[0032] The following description, in conjunction with the accompanying drawings, further illustrates the multi-source information fusion anti-jamming control method for servo motors suitable for gun firing environments proposed in this invention.

[0033] like Figure 1As shown, the method of this invention mainly includes four core steps: establishing a dynamic model, signal acquisition, multi-source information fusion decision-making, and composite control law calculation. To accurately describe the impact of the high overload environment at the moment of gun firing on the servo motor, this embodiment establishes a servo motor electromechanical coupling dynamic model that includes the gun firing impact torque. Compared with traditional models, the core difference of this model is the explicit introduction of the gun firing impact torque as the main disturbance variable. Its dynamic equations are expressed as follows:

[0034] ,

[0035] In the formula, Represents the equivalent moment of inertia of the servo system. Angular acceleration, This is the motor torque coefficient. For the motor armature current, The viscous damping coefficient is... Angular velocity, This model represents the externally applied gun-launched impact moment. It provides the necessary theoretical foundation for subsequent disturbance observation and control algorithms.

[0036] Based on the established model, the system collects key signals in real time through sensors, including the acceleration output from the accelerometer. The motor armature current output by the current sensor and the actual rudder angle fed back by the position sensor .like Figure 2 As shown, these signals are fed into the core "multi-source information fusion decision module," which operates in parallel with the conventional control loop. Its purpose is to address the problems of sensor signal lag and difficulty in detecting mechanical jamming. Specifically, this module first performs adaptive compensation for impact delay. To eliminate the physical lag in acceleration transmission and ensure the control system responds synchronously with the actual impact, the system dynamically adjusts the sensor delay time based on the impact intensity and the degree of current anomaly. The calculation formula is as follows:

[0037] ,

[0038] In the formula, For real-time adaptive delay time, Based on the fundamental delay constant, For acceleration magnitude, The degree of current anomaly (i.e., the measured armature current of the motor) (absolute value of deviation from theoretical current) and This is an adjustment coefficient. The physical meaning of this formula is: when a strong impact (large acceleration) or abnormal current is detected... (Large) Real-time adaptive delay time It will automatically decrease exponentially, thereby significantly improving the system's response speed under extreme conditions.

[0039] like Figure 3 As shown, the calculated real-time adaptive delay time Afterwards, the system will enter the trend prediction stage based on acceleration characteristics, and make logical branch judgments. On the one hand, the system monitors acceleration in real time. The rate of change when acceleration is detected. When the rate of change increases sharply and the amplitude exceeds the preset safety threshold, the system determines it as a "strong impact trend." In order to respond before the mechanical structure is damaged, the system immediately generates a high-priority reverse unloading command. The size of this instruction is not a fixed value, but is based on the current acceleration. Its rate of change is calculated using a variable gain PD (proportional-derivative) control law, and the specific formula is as follows:

[0040] ,

[0041] In the formula, This is a sign function used to determine the relationship with acceleration. The opposite direction of unloading force, This is the impact strength proportionality coefficient, used to adjust the unloading voltage amplitude according to the current overload magnitude. The differential coefficient of the impact trend is obtained by using the rate of change of acceleration. The system proactively enhances its stress-relief capabilities. This formula ensures that the stronger and faster the impact, the greater the reverse stress-relief voltage output by the system, thus achieving millisecond-level rapid avoidance. Conversely, during periods of less intense impact or in suspected jamming conditions, the system activates... Figure 4 The micro-motion jamming detection and active unloading are shown.

[0042] like Figure 4 As shown, the specific implementation process of the micro-motion jamming detection and active unloading program is as follows: the system starts the program and completes parameter initialization, and sets the median reference pulse width. Micro-oscillation range and micro-motion time step The micro-motion time step The selection of the micro-motion time step must adhere to the principle of ensuring that armature current changes are induced while avoiding macroscopic jitter on the control surface. For conventional electromechanical servo systems, the micro-motion time step is typically selected in the microsecond range. In this embodiment, as a specific application example, the micro-motion time step is... Set to 2μs, micro-oscillation range Set to ±15°. After initialization, the servo controller outputs the control quantity according to the following formula:

[0043] ,

[0044] In the formula, The control pulse width instruction representing the current discrete time k. The value of the instruction from the previous moment. Ultimately mapped to target rudder angle command This formula drives the servo motor to perform micro-motion, while simultaneously the system synchronously collects the instantaneous motor armature current. And execute the core "touch-and-return" judgment logic: if the motor armature current is detected... Exceeding the preset blocking threshold This indicates that the servo is experiencing mechanical jamming or gear compression. The system will immediately terminate the micro-motion and switch to reverse motion to achieve active protection. At this time, the system generates an anti-jamming correction command. It is not a simple stop command, but a command based on the current control pulse width. The formula for calculating the reverse backtracking step signal is:

[0045] ,

[0046] In the formula, This represents the direction of the micro-motion at the previous moment. The backoff factor (usually taken as...) ), The pulse width-voltage mapping coefficient. The physical significance lies in amplifying the microsecond-level pulse width backoff and converting it into a volt-level voltage control signal, ensuring the generated... With sufficient amplitude to drive the servo motor to overcome static friction, from the control pulse width command Retreat quickly along the original path A safety distance of several steps is provided to quickly release the compressive stress between the gears. In specific implementation, The value is usually determined through offline experimental calibration: that is, under the condition of maximum static friction torque of the servo motor, the minimum critical voltage required to start the servo motor is measured, and it is compared and calculated with the corresponding pulse width backoff amount, and a gain margin of 1.2-1.5 times is reserved to ensure the reliability of the response under extreme jamming.

[0047] If the current does not exceed the preset blocking threshold Then, it is further determined whether the preset boundary has been reached, and based on this, it is decided to switch the scanning direction or keep the current direction to continue detection.

[0048] In summary Figure 3 and Figure 4 The decision-making logic, and the final anti-gag correction command output by the multi-source information fusion decision module. It can be uniformly represented as a piecewise function determined by the current decision state:

[0049] ,

[0050] By defining this piecewise function, the system can flexibly output targeted correction signals according to different stages of the firing environment.

[0051] Finally, as shown in Figure 2, this embodiment constructs a dual-closed-loop composite control system including a position loop and a velocity loop. The system first receives the target rudder angle command. Compare it with the actual rudder angle fed back by the position sensor. The position error is obtained by comparison. This positional error The input is sent to the position loop PID controller, which calculates and outputs a virtual speed command. As the tracking target of the velocity loop.

[0052] Subsequently, the signal enters the speed loop control stage, which is also the core anti-interference component of this algorithm. The fourth-order ESO interference observer acquires the system control voltage in real time. Motor armature current The system uses position signals to reconstruct and output the total disturbance estimate in real time. and state estimates The speed loop NFTSMC controller operates based on virtual speed commands. The reference control voltage for maintaining high-precision tracking is calculated using the estimated value from the output of the fourth-order ESO disturbance observer and a non-singular terminal sliding mode control law. This is to counteract conventional disturbances and ensure the dynamic response performance of the system under conditions without strong impacts.

[0053] Meanwhile, the multi-source information fusion decision-making module above Figure 2 works in parallel to process the impact overload signal in real time. and current signal When a risk of gun-launched impact or mechanical jamming is detected, this module outputs an anti-jamming / micro-motion correction command. The system will issue this correction command. With reference control voltage In the superposition process, it is particularly important to note that the anti-jamming correction command has dominant control in this synthesis stage. Under strong impact conditions, it can temporarily suppress the tracking characteristics of the position loop and preferentially generate reverse unloading or micro-motion actions, thereby synthesizing the final control voltage. .

[0054] The final generated control voltage The voltage is input to the power driver, amplified, and then converted into the actual drive voltage. The motor windings of the servo system are applied, and the motor generates armature current under voltage drive. It outputs torque to drive the gearbox and control surfaces, and the sensors on the servo system collect the latest data in real time. , and The signal is fed back to the input terminal and various observation modules to form a complete shock-resistant control closed loop. This design ensures high-precision control of the servo motor under normal operating conditions, and enables it to actively adapt and protect itself when encountering gun-firing impacts or jamming risks by superimposing correction commands.

Claims

1. A servo motor multi-source information fusion anti-jamming control method suitable for gun-firing environments, characterized in that, Includes the following steps: S1: Configure servo controller parameters based on the electromechanical coupling dynamics model of the servo motor that includes the gun firing impact torque; S2: Real-time acquisition of servo motor acceleration, motor armature current, and actual servo angle via accelerometer, current sensor, and position sensor; S3: Based on the collected acceleration, motor armature current and actual rudder angle, multi-source information fusion decision is performed in the servo controller. This decision includes impact delay adaptive compensation, trend prediction based on acceleration characteristics, micro-motion jamming detection and active force relief. S4: The anti-jamming correction command generated by the multi-source information fusion decision is superimposed on the speed ring slip mode controller to drive the servo motor to perform anti-impact actions.

2. The servo motor multi-source information fusion anti-jamming control method suitable for gun firing environment according to claim 1, characterized in that, The adaptive compensation for impact delay in step S3 is calculated using the following formula: In the formula, For real-time adaptive delay time, Based on the fundamental delay constant, For acceleration magnitude, The degree of current abnormality, and This is for adjusting the coefficient.

3. The servo motor multi-source information fusion anti-jamming control method suitable for gun firing environment according to claim 2, characterized in that, The trend prediction based on acceleration features in step S3 specifically involves: calculating the real-time adaptive delay time... Afterwards, the system will enter the trend prediction stage, performing logical branch judgments. On the one hand, it will monitor the rate of change of the acceleration signal in real time, and when it detects... When the rate of change increases sharply and the amplitude exceeds the preset safety threshold, the system determines it to be a strong impact trend and immediately generates a high-priority reverse unloading command. , In the formula, For symbolic functions, This is the impact strength proportionality coefficient. For the impact trend differential coefficient, It represents the rate of change of acceleration; on the other hand, during periods of non-strong impact or in suspected jamming conditions, it enters the micro-motion jamming detection and active force unloading stage.

4. The servo motor multi-source information fusion anti-jamming control method suitable for gun firing environment according to claim 3, characterized in that, The micro-motion jamming detection and active force relief strategy are as follows: The servo controller outputs a control quantity according to the following formula: In the formula, The control pulse width instruction representing the current discrete time k. Using the command value from the previous moment, the servo motor is driven to perform micro-motion using this formula. At the same time, the system synchronously collects the instantaneous motor armature current. If the motor armature current is detected Exceeding the preset blocking threshold This indicates that the servo is experiencing mechanical jamming or gear compression. The system will immediately terminate the micro-motion and switch to reverse motion to achieve active protection. At this time, the system generates an anti-jamming correction command. The calculation formula is: In the formula, This represents the direction of the micro-motion at the previous moment. This is the rollback factor. For micro-motion time step, This is the pulse width-voltage mapping coefficient; if the current does not exceed the preset hysteresis threshold... Then, it is further determined whether the preset boundary has been reached, and based on this, it is decided to switch the scanning direction or keep the current direction to continue detection.

5. The servo motor multi-source information fusion anti-jamming control method suitable for gun firing environment according to claim 4, characterized in that, The final anti-gag correction command output by multi-source information fusion decision This can be uniformly represented as a piecewise function determined by the current decision state: By defining this piecewise function, the system can flexibly output targeted correction signals according to different stages of the firing environment.

6. A multi-source information fusion anti-jamming control method for servo motors suitable for gun firing environments, as described in claim 1, 2, 3, 4, or 5, is characterized in that... The electromechanical coupling dynamic model of the servo motor is as follows: In the formula, Represents the equivalent moment of inertia of the servo system. Angular acceleration, This is the motor torque coefficient. For armature current, The viscous damping coefficient is... Angular velocity, The impact torque of the gun firing applied externally.

7. The servo motor multi-source information fusion anti-jamming control method suitable for gun firing environment according to claim 5, characterized in that, Construct a dual-closed-loop composite control system that includes a position loop and a velocity loop. The system first receives the target rudder angle command. Compare it with the actual rudder angle fed back by the position sensor. The position error is obtained by comparison. This positional error The input is sent to the position loop PID controller, which calculates and outputs a virtual speed command. As the tracking target of the velocity loop; Subsequently, the signal enters the speed loop control phase, and the fourth-order ESO interference observer acquires the system control voltage in real time. Motor armature current and actual rudder angle Reconstruct and output the total disturbance estimate of the system in real time. and state estimates The speed loop NFTSMC controller operates based on virtual speed commands. The reference control voltage is calculated using the estimated value from the output of the fourth-order ESO disturbance observer. ; At the same time, the multi-source information fusion decision output anti-lag correction command The system will issue this correction command. With reference control voltage The voltages are superimposed to synthesize the final control voltage. ; The final generated control voltage The voltage is input to the power driver, amplified, and then converted into the actual drive voltage. The motor windings applied to the servo system.

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