Study on position tracking algorithm of large-inertia artillery with terminal sliding mode control

Study on position tracking algorithm of large-inertia artillery with terminal sliding mode control

Blog Article

The large-inertia Lounge Socks artillery has complex structure and high coupling between components.Due to the processing technology, the error between motor shaft position and the actual load position is inevitable and hardly to be compensated.The situation get worse when the system running in high speed, where the error changes more violently and so-called "vibration" phenomenon shows up.

The study establishes a detailed mode of servo system including double-motor control, position-loop control, moment model of gears, and feedback of position sensors.Then a position tracking algorithm Vacuum Parts with terminal sliding mode control is proposed and verified in artillery system.The experiment shows that this algorithm effectively eliminates the "vibration" phenomenon, enables the servo computer to directly use the load position of the artillery as the control variable, and improves the position tracking accuracy and operational stability of artillery system.