电枢膛内高速运动控制仿真与试验

王振春; 董宗豪; 鲍志勇; 张玉婷; 刘福才

doi:10.11884/HPLPB202032.200020

电枢膛内高速运动控制仿真与试验

doi: 10.11884/HPLPB202032.200020

王振春^{1, 2,},
董宗豪²,
鲍志勇²,
张玉婷²,
刘福才^{1, 2}

1.
智能控制系统与智能装备教育部工程中心，河北秦皇岛 066004
2.
燕山大学工业计算机控制工程河北省重点实验室，河北秦皇岛 066004

基金项目: 河北省自然科学基金项目（E2017203298）

详细信息

作者简介:
王振春（1979—），男，博士，副研究员，研究方向：电磁发射控制技术；zcwang@ysu.edu.cn

中图分类号: TM 153
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出版历程
- 收稿日期: 2020-01-15
- 修回日期: 2020-05-13
- 刊出日期: 2020-06-24

Simulation and experimental study on high velocity control of armature in bore

1.
Intelligent Control System and Intelligent Equipment Engineering Center of the Ministry of Education, Qinhuangdao 066004, China
2.
Hebei Key Laboratory of Industrial Computer Control Engineering, Yanshan University, Qinhuangdao 066004, China

摘要

摘要: 电磁轨道发射的过程中，电枢在膛内高速运动时会受到电磁力、电枢初始正压力、摩擦力、空气阻力、烧蚀阻力等多种因素影响，电枢的出口速度呈现出在一定范围内波动的特征。为了提高电枢的出口速度精度，针对膛内电枢与轨道摩擦不均衡性和烧蚀程度不确定的特性，综合考虑脉冲成形网络的电路模型与电枢的动力学特征，建立了电枢在膛内的运动开环控制仿真模型。通过仿真，得出了脉冲电源模块触发时刻与电枢出口速度之间的关系，提出了电枢出口速度闭环控制模型，探究了电枢出口速度控制可行方案。结果表明：应用闭环控制算法，可实现对电枢出口速度的精确控制。
- 电磁发射 /
- 数学模型 /
- 出口速度 /
- 速度控制
Abstract: During the launching of electromagnetic railgun, movement of the armature will be influenced by many factors, such as electromagnetic force, armature initial positive pressure, friction force, air resistance and electrical erosion resistance when the armature is moving in the bore. The muzzle velocity of the armature will fluctuate in a certain range. To improve the precision of the muzzle velocity of the armature, based on the character of the uncertainty of friction and ablation degree of armature and rail, this paper presents a simulation model for the open loop control of the armature in the bore, considering the dynamic characteristics of the circuit model and armature. The relationship between the discharge time interval and muzzle velocity of the armature is obtained by simulation, the armature velocity closed loop control model is put forward, and the feasible scheme of armature velocity control is explored. The simulation results show that the closed-loop control can improve the control precision of the muzzle velocity of the armature.
- electromagnetic launching /
- mathematical model /
- muzzle velocity /
- velocity control

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图 1 脉冲成形网络电路

Figure 1. Multi-module circuit diagram

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图 2 不同触发时刻下电流与速度曲线

Figure 2. Time series current and velocity waveform diagram of different spaced discharge

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图 3 第二组脉冲电源模块触发时刻${T_{{\rm{trig}}}}$与电枢出口速度之间的关系

Figure 3. Relationship between trigger time and muzzle velocity

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图 4 n次测速反馈构成的闭环系统

Figure 4. A closed-loop system composed of n times of speed measurement feedback

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图 5 开环与闭环电枢速度对比

Figure 5. Comparison of open-loop and closed-loop armature velocity

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图 6 电枢初始正压力

Figure 6. Armature initial positive pressure for experiments

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图 7 开环控制与闭环控制速度对比图

Figure 7. Muzzle velocity comparison between open-loop control and closed-loop control

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表 1 实验结果

Table 1. Results of experiments

initial positive pressure/kN	test situation	rail length/m	charging voltage/kV	trigger time of the first group of modules/μs	trigger time of the second group of modules/ms
1.0	open loop control	2	1.5	0	2.3
1.5	open loop control	2	1.5	0	2.3
1.5	closed loop control	2	1.5	0	calculated T_trig

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表 2 开环控制与闭环控制速度误差表

Table 2. Speed error table of open-loop control and closed-loop control

number of experiments	open loop simulation muzzle velocity/（m·s⁻¹）	simulation relative error/%	closed loop simulation muzzle velocity/（m·s⁻¹）	simulation relative error/%
1	762.8	−0.188	764.5	0.042
2	753.7	−1.407	764.6	0.054
3	742.0	−2.975	763.8	−0.050
4	760.2	−0.536	764.6	0.055
5	752.4	−1.581	764.3	0.018
6	761.5	−0.362	763.8	−0.054
7	740.7	−3.149	763.9	−0.030
8	745.9	−2.452	764.2	0.006
9	757.6	−0.885	764.6	0.061
10	739.4	−3.324	764.6	0.062
11	751.1	−1.756	763.8	−0.046
12	744.6	−2.627	764.7	0.063
13	758.9	−0.710	764.6	0.061
14	738.1	−3.498	764.2	−0.002
15	755.9	−1.108	764.5	0.040
16	747.2	−2.278	763.8	−0.048
17	749.8	−1.930	764.1	−0.010
18	743.3	−2.800	764.6	0.056
19	756.3	−1.059	764.5	0.039
20	748.5	−2.100	764.6	0.062

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