基于四元数坐标变换法的火炮身管姿态伺服控制研究

Gun Tube Position Servo Control Based on Quaternion Coordinate Transformation Method

某履带式自行火炮随动系统采用捷联惯性导航装置来检测火炮身管姿态,实现射角射向的高精度控制。为解决火炮随动系统高低向伺服和方位向伺服存在的控制耦合问题,采用四元数法,将捷联惯导测量值与射角射向主令诸元从地理坐标系下转换到车体坐标系下,分别解出方位向和高低向调转误差,通过位置控制器和电机驱动系统完成火炮身管姿态闭环控制。在车体初始姿态分别为水平和倾斜6°条件下进行仿真和试验。结果表明:采用四元数坐标变换法的火炮身管姿态伺服控制系统具有实现简单、调炮平稳、瞄准精确和超调小等技术特点,满足系统设计要求。

Strapdown Inertial Navigation System（ SINS） is used to measure the pointing of gun barrel for highly accurate aiming with tracked self-propelled artillery. However,it causes the control coupling of pitching servo and azimuth servo and the aiming property to be easily affected by vehicle posture.According to the full closed-loop aiming system model under vehicle coordinates,the servo control model under quasi geodetic coordinates including the disturbance of mismatched uncertainty is obtained. Active Disturbance Rejection Controllers（ ADRC） is designed for each axial servo system,with the coupling and modeling error considered to be external disturbance. ADRC can be used to observe the external disturbance and compensate for the nonlinear state error controller to eliminate the overshoot caused by it. Simulation of servo aiming systems with the initial posture of vehicle being horizontal and inclination degree being 6 degrees is carried out respectively. The results show that compared with the adaptive sliding mode variable structure control,the servo system using ADRC strategy obtains more steady and more accurate targeting results,and gets smoother controller output,but suppresses the unmatched uncertain interface effectively,which satisfies the design requirements of the system.