CN-122018296-A - Steering engine multisource information fusion anti-jamming control method suitable for shot environment

CN122018296ACN 122018296 ACN122018296 ACN 122018296ACN-122018296-A

Abstract

The invention discloses an electric steering engine impact resistance control algorithm suitable for a shot environment, and belongs to the technical field of steering engine control. Aiming at the problems of extrusion deformation and control failure of a steering engine gear caused by transient high overload in the blasting process, the invention introduces a multi-source information fusion decision module based on a double closed-loop control architecture. The method is characterized in that acceleration characteristic leading decision is utilized, response delay of a sensor is dynamically adjusted through constructing an impact time delay self-adaptive compensation function, accurate time sequence prediction of impact moment is achieved, meanwhile, an active micro-motion clamping stagnation detection mechanism based on touch instant logic is established, a steering engine is driven to swing in a high-precision micro-amplitude mode within a preset angle range, and mechanical stress is actively identified and released through monitoring current abnormal feedback. According to the invention, clamping stagnation and damage of the internal structure of the steering engine under strong impact can be avoided from the source, and the survivability and control accuracy of the weapon system under extreme environments are obviously improved.

Inventors

YOU WENBIN
DING YONGHONG
DU XIAOQIAN
TIAN YUE
XIE RUI
ZHANG HONGYAN
CHEN CHANGXIN
WU LULU

Assignees

中北大学

Dates

Publication Date: 20260512
Application Date: 20260210

Claims (7)

1. A steering engine multisource information fusion anti-jamming control method suitable for a shot environment is characterized by comprising the following steps: S1, configuring steering engine controller parameters based on a steering engine electromechanical coupling dynamics model containing shot impact moment; s2, acquiring acceleration of a steering engine, armature current of a motor and an actual rudder angle in real time through an acceleration sensor, a current sensor and a position sensor; S3, executing multi-source information fusion decision in a steering engine controller based on the acquired acceleration, motor armature current and actual rudder angle, wherein the decision comprises impact time delay self-adaptive compensation, trend prediction based on acceleration characteristics, micro-motion clamping stagnation detection and active power unloading; and S4, superposing an anti-jamming correction instruction generated by the multisource information fusion decision into the speed loop sliding mode controller, and driving the steering engine to execute impact resistance.
2. The steering engine multisource information fusion anti-jamming control method suitable for the shot environment according to claim 1, wherein the impact time delay self-adaptive compensation in the step S3 is characterized in that the calculation formula is as follows: In which, in the process, In order to adapt the delay time in real time, As a basis for the time delay constant, As a modulus of the acceleration, the acceleration is, In order to achieve the degree of abnormality in the current, And To adjust the coefficients.
3. The method for controlling the multi-source information fusion and anti-jamming of the steering engine suitable for the shooting environment according to claim 2, wherein the trend prediction based on the acceleration characteristics in the step S3 is specifically that the real-time self-adaptive delay time is obtained through calculation Then, the system will enter a trend prediction stage to carry out logic branch judgment, on the one hand, the change rate of the acceleration signal is monitored in real time, and when the change rate is detected When the change rate of the system is suddenly increased and the amplitude exceeds a preset safety threshold, the system judges that the system is in strong impact trend, and immediately generates a high-priority reverse unloading instruction , In which, in the process, As a function of the sign of the symbol, In order to be a proportionality coefficient of impact strength, As a derivative of the impact trend, And on the other hand, the method enters the micro-motion jamming detection and active force unloading stage under the non-strong impact period or the suspected jamming state.
4. The steering engine multisource information fusion anti-jamming control method suitable for the shot environment according to claim 3 is characterized in that the micro-motion jamming detection and active force unloading strategy is characterized in that a steering engine controller outputs control quantity according to the following formula: In which, in the process, A control pulse width command representing the current discrete time k, The steering engine is driven to execute inching through the formula for the command value of the last moment, and simultaneously, the system synchronously collects the armature current of the instantaneous motor If the armature current of the motor is monitored Exceeding a preset blocking threshold The steering engine is prevented from being jammed mechanically or extruded by gears, the system immediately stops inching and is switched to reverse motion to realize active protection, and an anti-jamming correction instruction is generated by the system The calculation formula is as follows: In which, in the process, Is the inching direction of the previous moment, In order to roll-back the magnification factor, For the jog time step, For the pulse width-voltage mapping coefficient, if the current does not exceed the preset blocking threshold Whether the preset boundary is reached is further judged, and accordingly the scanning direction is switched or the current direction is kept to be continuously detected.
5. The method for controlling anti-jamming of multi-source information fusion of steering engine suitable for shot environment according to claim 4, wherein the final anti-jamming correction instruction outputted by multi-source information fusion decision The unified representation is a piecewise function determined by the current decision state: by defining the piecewise function, the system can flexibly output targeted correction signals according to different stages of the shooting environment.
6. The steering engine multisource information fusion anti-jamming control method suitable for the shot environment according to claim 1 or 2 or 3 or 4 or 5, wherein the steering engine electromechanical coupling dynamics model is as follows: In which, in the process, Representing the equivalent moment of inertia of the steering engine system, In order for the angular acceleration to be the same, As a motor torque coefficient, the torque coefficient of the motor, For the armature current to be sufficient, In order to be a viscous damping coefficient, In order to be able to achieve an angular velocity, For an externally applied shot impact moment.
7. The method for controlling multi-source information fusion and anti-jamming of steering engine suitable for shooting environment according to claim 5, wherein a double closed-loop composite control system comprising a position loop and a speed loop is constructed, and the system receives a target rudder angle command first The actual rudder angle fed back by the position sensor Comparing to obtain position error The position error Input to a position loop PID controller, and output virtual speed command through calculation A tracking target as a speed loop; Then, the signal enters a speed loop control stage, and the four-order ESO interference observer acquires the system control voltage in real time Armature current of motor Actual rudder angle Reconstructing and outputting total disturbance estimated value of system in real time State estimation value The speed loop NFTSMC controller is used for controlling the speed loop according to the virtual speed command Calculating reference control voltage with the estimated value output by the fourth-order ESO interference observer ; Meanwhile, the multisource information fusion decision outputs an anti-jamming correction instruction The system will modify the instruction With reference control voltage Superimposed to synthesize the final control voltage ; The control voltage finally generated Input to a power driver, amplified by power, and converted into actual driving voltage Applied to the motor windings of the steering engine system.

Description

Steering engine multisource information fusion anti-jamming control method suitable for shot environment Technical Field The invention belongs to the technical field of steering engine control, in particular to a steering engine multisource information fusion anti-jamming control method suitable for a shooting environment, which aims at the problem of transient impact resistance control of an electric steering engine in the shooting environment, is mainly applied to steering engine impact resistance control in the shooting process of weapon systems such as shells, missiles and the like, and aims to solve the problems of stress extrusion deformation, control precision suddenly drop and even failure of internal gears and shafting structures of the steering engine caused by high overload and strong transient impact in the shooting process, and guarantee stable operation and accurate control of the steering engine in the extreme impact environment. Background The steering engine is used as a core execution component of the shooting weapon system, and the reliability and the control precision of the steering engine in the shooting transient impact environment directly determine the hit precision and the fight efficiency of the weapon. In the blasting process, the steering engine needs to bear the instantaneous overload and high-frequency impact load of tens of thousands times of gravity acceleration, and the traditional control algorithm is difficult to solve the problems of nonlinear disturbance, parameter mutation, structural response delay and the like under the extreme working conditions. At present, various technical schemes are formed for steering engine impact resistance control algorithms at home and abroad, but the steering engine impact resistance control algorithm is still limited in the aspects of transient strong impact and mechanical clamping stagnation protection under the shot environment. Specifically, the prior art scheme has defects in model adaptability, response instantaneity and active protection mechanism, the existing algorithm depends on an accurate idealized model or a specific mechanical structure, and is difficult to adapt to parameter mutation caused by shot impact, for example, although patent CN110793405A provides self-adaptive sliding mode control based on a rigid-flexible coupling model, the self-adaptive sliding mode control depends on specific structure priori knowledge of a folding rudder, and high-frequency buffeting of the sliding mode control is easy to aggravate mechanical abrasion under strong impact, patent CN111273548A adopts a third-order steering engine model for control, but at shot moment, nonlinear mutation occurs to physical parameters such as friction coefficient, damping and the like of a steering engine, so that model precision designed based on fixed parameters is seriously distorted, and further control performance is rapidly reduced. The strategy for low dynamic scene design has the problem of response lag, cannot meet the real-time requirement of the shot environment, for example, the cooperative control of the mechanical arm of the patent CN107309872B is limited by communication delay, the control of the neural network of the patent CN115390441A is limited by the convergence speed of online learning, and both the control and the control lack of a rapid response and time delay compensation mechanism for millisecond-level transient impact. The prior art generally lacks an active protection and stress release mechanism for a mechanical structure, and the track planning method such as patent CN111203870A only reduces start-stop impact through a smooth curve, belongs to the category of passive planning, and cannot sense external sudden strong impact moment, and does not have an active jamming detection and force unloading risk avoidance strategy when a gear is extruded at risk due to strong impact. In summary, the prior art has a plurality of limitations in the aspect of steering engine control under the transient impact of the shooting environment, a part of algorithms are based on static ideal model design, the real-time compensation capability of model parameter drastic change and nonlinear disturbance caused by the shooting impact is lacking, the model mismatch problem is easy to occur, the control instruction lag is caused by the physical lag of a sensor and the time consumption of algorithm calculation in the high overload transient environment, the system cannot synchronously respond with the impact interference, and the active detection and stress release mechanism of the potential mechanical clamping stagnation or gear hard contact is lacking in the part of algorithms, so that the survivability of the steering engine under the strong impact is low. Therefore, the invention provides a steering engine impact resistance control method suitable for a shooting environment and based on multi-sensor information fusion, so as to solve the problems. Disclosure