Aiming at the problem that the speed ratio nonlinearity caused by the electric cylinder makes it difficult to match the rapidity and precision of the servo system, the kinematics and dynamics models of the gun barrel are established, a Variable Coefficient Error Square Root and PID with feedforward subsection control strategy is proposed. The control coefficient of Variable Coefficient Error Square Root is calculated by using the kinematics model of gun barrel and the acceleration fitting according to the dynamics model. The control method is applied to the position controller design of servo system. The bench test is carried out with actual load, and the results are compared with the traditional Error Square Root and PID with feedforward subsection control strategy. The results of bench test show that compared with the traditional Error Square Root and PID with feedforward subsection control strategy, the Variable Coefficient Error Square Root and PID with feedforward subsection control strategy can obviously reduce the large turning time and overshoot of the gun pitching servo system, and does not affect the constant speed and sine tracking precision, it has certain engineering application value.
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胡鑫,赵昕,韩崇伟,等. 电动缸伺服系统中误差平方根控制[J]. 科学技术与工程, 2021, 21(3): 1066-1070. Hu Xin, Zhao Xin, Han Chongwei, et al. Research on Square Root Control in Electric Cylinder Servo System[J]. Science Technology and Engineering,2021,21(3):1066-1070.