电液驱动水下发射筒开关盖装置高精度跟踪控制方法

High Precision Tracking Control Method for Electro-hydraulic Underwater Launching Shaft Switch Cover Device

发射筒盖是潜射导弹发射装置的重要组成部分,目前主要采用调速阀进行开关盖速度控制,由于其无法保证动作精度,制约了系统的进一步发展。为提高开关盖过程的速度控制精度,以伺服阀代替调速阀进行开关盖动作控制;以开关盖装置为被控对象,设计高增益观测器观测系统状态量,抑制非线性对系统精度的影响,结合滑模控制器进行自适应控制,并将提出的控制算法分别应用于两种控制阀组。实验表明,开关盖装置结合伺服阀可实现更好的控制效果,采用高增益观测器的滑模控制速度跟踪效果较传统PID控制提升30%。

The underwater launching shaft switch cover is an essential device for launching submarine-launched missile.At present,speed regulating valve is mainly used to control the speed of the switch cover,but the precision of the operation cannot be guaranteed,which restricts the further development of the system.So as to elevate the speed control precision of the switch cover,servo valve is applied to replace the speed regulating valve to control the switch cover.The underwater launching shaft switch cover was used as the control object,a high gain observer was used to observe the system state to reduce the influence of nonlinear on the system accuracy,and the sliding mode controller was used to carry out adaptive control.The suggested control algorithm has been employed to two control valve sets respectively.Experimental results show that the underwater launching shaft switch cover device combined with servo valve can achieve better control effect,and the speed tracking influence of sliding mode control using high gain observer is 30%superior to that of traditional PID control.