大口径非平衡柔性身管同源平衡及定位控制新方法研究

项目名称： 大口径非平衡柔性身管同源平衡及定位控制新方法研究

项目编号： No.51305205

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 机械、仪表工业

项目作者： 高强

作者单位： 南京理工大学

项目金额： 27万元

中文摘要： 针对大口径非平衡柔性身管高精度定位控制研究工作中存在的诸多亟待解决的关键问题，本项目提出一种基于三腔动力液压缸伺服系统的身管同源平衡及定位控制新方法，其主要特征在于：利用动力液压缸的平衡腔实现系统非平衡力的主动平衡补偿，同时利用其驱动腔实现身管的精准定位驱动。本项目结合理论分析及实验测试研究方法，致力于研究身管运动过程中存在的复杂非线性动力学特征及其精确描述方法；致力于研发用于身管非平衡力主动平衡及同步定位机电液系统，发展多目标性能约束下身管运动最优轨迹确定方法；针对身管运动特征，致力于研究时频域混合自适应迭代学习控制策略。通过本项目的研究，将有效抑制身管运动系统非平衡扰动并实现其精准定位，这将大幅减轻系统质量并紧凑硬件布局。本项目的研究将为新型火力系统的研发，以及具有类似长杆机构负载的重型工程机械机械臂的运动控制、空间机械臂运动控制等提供理论基础及技术支撑。

中文关键词： 大口径身管；非平衡力；同源平衡及定位；三腔动力液压缸；自适应控制

英文摘要： Aiming at the urgent problems in current researches on precise positioning of unblanced flexible barrel with large caliber, a novel iso- actuation hydraulic servo system for barrel balancing and positioning with hydraulic cylinders possessing three cavities is proposed in this project, which can be characterized as follows: the internal and external out of balance disturbances will be actively compensated by the balancing cavity of the cylinder, and the positioning will simultaneously be processed by the driving cavities of the cylinder. By means of theoritical analysis and experiment testing, the complex nonlinear dynamics behaviors of the motions of the barrel will be studied and precisely described; the hydraulic and mechatronic system for active balancing of the out of balance disturbances and simultaneous positioning of the barrel will be developed, and the optimal path of it will be determined by means of multi-objective optimization methods; a novel iterative learning control strategy possessing both time and frequency domain characteristics will be proposed for the gun control systems by fully exploring the characteristics of the motion system. By the studies constructed in this project, the disturbance rejection and the precise positioning of the barrel will be achieved. Simultaneously, the light weight

英文关键词： Large diameter barrel；Unbalanced toque；Iso- actuation balancing and positioning；Three chambers power hydraulic cylinder；Adaptive control