公开(公告)号：KR1020110052923A

公开(公告)日：2011-05-19

申请号：KR1020090109670

申请日：2009-11-13

Applicant: 국방과학연구소

Inventor： 박기헌 ,  이재호 ,  이성우 ,  최재형 ,  이재일

IPC: F41H11/04 ,  F41H11/02

Abstract: PURPOSE: A position control system and method for a driving device of a counter-shell launcher for active defense are provided to ensure improved control performance by removing the influences by modeling errors, disturbance, and measurement noises. CONSTITUTION: A position control system for a driving device of a counter-shell launcher for active defense comprises a reference position information input unit(110), a drive unit(130), a numerical differentiator(140), a kalman filter, and a controller(120). The reference position information input unit provides reference position information for position control of the drive unit. The drive unit has a driver(132) and a motor(135). The numerical differentiator calculates the speed of the drive unit by differentiating the position of the drive unit measured by a resolver(136) of the motor. The kalman filter calculates the estimated speed value of the drive unit from the speed of the drive unit calculated by the numerical differentiator and the position of the drive unit measured by the resolver. The controller controls the position of the drive unit to using position control algorithm based on the reference position, position errors, and the estimated speed value.

Abstract translation: 目的：提供一种用于主动防御的反炮发射器的驱动装置的位置控制系统和方法，通过消除模拟误差，干扰和测量噪声的影响来确保改进的控制性能。 构成：用于主动防御的反壳发射器的驱动装置的位置控制系统包括基准位置信息输入单元（110），驱动单元（130），数值微分器（140），卡尔曼滤波器 控制器（120）。 参考位置信息输入单元提供用于驱动单元的位置控制的基准位置信息。 驱动单元具有驱动器（132）和马达（135）。 数值微分器通过区分由电动机的旋转变压器（136）测量的驱动单元的位置来计算驱动单元的速度。 卡尔曼滤波器根据由数字微分器计算的驱动单元的速度和由分解器测量的驱动单元的位置来计算驱动单元的估计速度值。 控制器基于参考位置，位置误差和估计的速度值来控制驱动单元的位置，使用位置控制算法。