CAJ | 학술논문

火箭炮自动操瞄控制系统包含俯仰/方位两个子系统，两子系统联动时存在轴间耦合非线性关系，并且火箭炮发射时的动力学特性难于建立数学模型。针对上述特性，建立火箭炮自动操瞄控制系统电气模型与虚拟样机模型的耦合模型作为系统仿真的被控对象，并根据系统非线性动力模型对两轴非线性耦合关系进行解耦，进而在此基础上引入滑模控制方法，设计自动操瞄控制系统位置控制器。仿真研究了两轴联动时，两轴非线性耦合关系在解耦状态下的滑模控制特性，结果表明，俯仰/方位两轴非线性耦合关系解耦后进行滑模控制，具有较高的控制精度，对火箭弹发射时产生的力矩绕动具有更强的鲁棒性。
화전포자동조묘공제계통포함부앙/방위량개자계통，량자계통련동시존재축간우합비선성관계，병차화전포발사시적동역학특성난우건립수학모형。침대상술특성，건립화전포자동조묘공제계통전기모형여허의양궤모형적우합모형작위계통방진적피공대상，병근거계통비선성동력모형대량축비선성우합관계진행해우，진이재차기출상인입활모공제방법，설계자동조묘공제계통위치공제기。방진연구료량축련동시，량축비선성우합관계재해우상태하적활모공제특성，결과표명，부앙/방위량축비선성우합관계해우후진행활모공제，구유교고적공제정도，대화전탄발사시산생적력구요동구유경강적로봉성。
The automatic aiming system of rocketc launcher is divided into two subsystems;elevation angle control system and azi￣muth angle control system. And it is hard to build math model due to its dynamic characteristics. Aiming at the characteristics above,electrical model and virtual prototype model are buit for the automatic aiming system of rocketc launcher,and in the system,the plant decoupling linearization is made on the nonlinear kinetics model. On this basis,a sliding mode control approach is used to design po￣sition control er for the precise aiming. Throug the simulation,the control characteristic of the sliding control is studied on the basis of the decoupling linearization. The results show that its control accuracy is very high and the robustness to the disturbance moment is perfect at firing.