某车载遥控武器站的初步研究

【作者】 李辉；

【导师】 赫雷；

【作者基本信息】 南京理工大学 ， 火炮、自动武器与弹药工程， 2009， 硕士

【摘要】 本文在深入研究国外遥控武器站的研究情况和发展趋势的基础上,进行了某新型遥控武器站的总体方案与结构设计,并进行了伺服控制系统和动力学等方面的深入研究。根据拟设计的遥控武器站的各项静态及动态参数,设计了该遥控武器站转塔的具体结构,包括观瞄系统、驱动系统、稳定系统,并选配了武器系统。详细分析了永磁同步电动机的数学模型,建立了该武器站交流伺服系统被控对象的数学模型,研究了交流伺服系统的矢量控制策略。对系统的控制器进行了深入的分析和设计,并且对系统进行了常规PID控制策略的仿真,结果表明在参数匹配良好的情况下,系统可以取得较好的性能。根据对高低机和方向机伺服系统制定的控制策略,利用电控仿真软件MATLAB和动力学仿真软件ADAMS接口模块ADAMS/Controls,对该遥控武器站控制系统和机械系统进行了联合仿真,得出了各级传动系统的运动规律。将机械部分的物理特性和动力学特性更加全面地反映到控制系统中,使高低机和方向机仿真的可信度更高,为该遥控武器站的进一步深入研究打下了坚实的基础。更多还原

【Abstract】 On the basis of in-depth study of research situation and development trends of foreign Remote Controlled Weapon Station, the overall scheme and structure design of a new type of Remote Controlled Weapon Station are completed and a deep research to its servo control system and dynamics is carried out.Based on the static and dynamic parameters of the aforementioned Remote Controlled Weapon Station, the concrete structures of turret, including the observation and aiming system, driving system, the stabilizing system are designed and the weapon system is also selected. The mathematical model of PMSM is elaborately analyzed, then the mathematical model of a servo system of Remote Controlled Weapon Station is set up and the major control methods of servo system are discussed. Controller design of the system is deeply investigated and the simulation of conventional PID controller of the system is done. The simulation results indicate that the system can achieve fairly good performances under good parametric matching.Based on the control methods of elevating mechanism and traversing mechanism and by the interface module of the electronic control software MATLAB and dynamics simulation software ADAMS, the co-simulation of control system and mechanical systems is done, and the motion rules at all levels of transmission system are obtained. With the incarnation of the physics characteristics and dynamics characteristics of the machine into the control system, the reliability of the simulation is enhanced. The research results will lay a solid foundation for the further study of Remote Controlled Weapon Station.更多还原