干扰速率补偿式火炮线自稳定跟踪控制建模与仿真

为适应动基座、高射角条件下火炮高精度的稳定跟踪控制的需求，提出一种基于大地坐标系下干扰速率补偿式火炮线自稳定控制方法，以有效抑制自行火炮车体姿态扰动对火炮线指向的影响。根据指向稳定的火炮线在动基座上的运动规律，设计新的干扰速率测量陀螺安装方式，推导在大地坐标系下的方位向和高低向干扰速率解耦补偿值，并在传统的高炮随动基础上应用干扰速率前馈补偿，实现火炮线自稳定和控制解耦。由于火炮稳定只涉及炮塔回转、火炮俯仰两个自由度且都存在偏心矩等因素，采用牛顿-欧拉法建立运动车体与火炮、炮塔之间的动力学模型，并考虑传动机构的刚度和齿隙的非线性，结合执行电机模型和经典闭环控制，以车体航向、俯仰、横滚各幅值为7°，周期为2 s的三轴复合摇摆条件，分别对该控制策略在忽略弹性、考虑动弹性的两种情况下对该控制策略进行仿真研究。仿真结果表明，所提稳定控制方法实现了稳定射角不低于60°，在传动弹性条件下的稳定误差不大于0.5 mrad，正弦稳定跟踪误差不大于2.8 mrad，同时实现了高低向和方位向的的控制解耦，为火炮线高响应、高精度稳定控制提供了新的研究思路和方法。

Modeling and Simulation of Self-stable Gun Line Control Using Interference Rate Compesation

A self-stabilizing control method for gun line based on interference rate compensation in geodetic coordinates is proposed to achieve the high precision stability and tracking control of gun under the conditions of moving base and high firing angle. The proposed method can used to effectively restrain the influence of self-propelled artillery attitude disturbance on the gun line pointing. According to the motion law of stable gun line on a moving base，a mounting mode of interference rate measuring gyro is designed，and the decoupling compensation values of the azimuth and pitching interference rate in geodetic coordinates are derived. On the basis of the traditional anti-aircraft gun servo principle，the interference rate feed-forward compensation is applied to realize the self-stabilization and control decoupling of gun line. Since the gun stability is only related to two degrees of freedom of turret rotation and gun pitching，both of which have eccentricity moment and other factors. The Newton-Euler approach is used to establish a dynamic model of moving carrier，gun and turret. The nonlinear stiffness and backlash of transmission mechanism are considered combined with the executive motor model and classical closed-loop control. The control strategy is simulated in the two cases of ignoring elasticity and considering elasticity，respectively，under the conditions of three-axis compound swaying with the heading，pitching，rolling amplitudes of 7° and period of 2 s of vehicle body. The simulated results show that the proposed stability control method with interference rate compensation is used to achieve the stable firing angle of more than 60°，the stability control error of less than 0.5 mrad and the sinusoidal stability tracking control error of less than 2.8 mrad，and the control decoupling of pitching an azimuth is realized.