针对多管火箭炮发射时恶劣的负载特性,如不平衡力矩的大范围变化以及强大的燃气流冲击,设计了一种基于改进Elman网络的自适应位置控制器。在原Elman网络中增加输出层关联单元,并把自反馈增益系数当作连接权值投入到网络的训练中,利用改进Elman网络根据火箭炮跟踪发射过程中的负载特性实时调整PID控制参数,以减小系统参数变化和外部扰动对火箭炮发射性能的影响。仿真及实验结果表明该方法可有效提高火箭炮位置伺服系统的稳定性和抗干扰能力。

Considering the atrocious load property when the rocket is launched, including unbalanced torque and the disturbance from the air current impulsion, an adaptive position controller based on improved Elman network is designed. The context neurons of output layer are added to the original Elman network, and self-feedback gain coefficients are trained as connective weight. Ac cording to the load property of rocket launcher, improved Elman network could adjust the PID parameters online to minify the influence of the change of system parameters and external disturbance. Simulation and experimental results show that this method could improve the stability and anti-disturbance ability of rocket launcher position servo system effectively.