Adaptive Backlash Compensation Method Based on Touch State Observation for a Solid Ducted Rocket

A hysteresis model was built to describe the backlash of the flow regulator in a solid ducted rocket, and its influence on the engine control was also analyzed in this study. An adaptive backlash compensation method was proposed under two challenges: limited information and backlash state variation caused by the harsh environment in the gas generator. The touch state is designed and its observation is used to get the state of backlash, and a compensation control method using the existing information was carried out combined with the motion intention. This method greatly shortened the time during the transition and reduced the hysteresis effect on the control system. Furthermore, the compensation method is improved and acquires a self-learning ability, the compensation parameter changes adaptively during the process of flow regulation, and it is able to meet the challenge of an unknown and variable state of backlash. Finally, the validation of the compensation method was carried out with two simulations.

Load Characteristics and Modeling Methods for the Flow Regulator of a Solid Ducted Rocket

The load characteristics for the flow regulator of a solid ducted rocket are discussed in this paper. The mechanism and the influence factor of the load in the flow regulator were studied both theoretically and experimentally, and the system load and the working load were divided according to the mechanism. Additionally, the load influence on the working quality of the flow regulator and the ducted rocket were analyzed. System modeling of the flow regulator was carried out based on the working mechanism of the gas generator and the Stribeck friction model, and models of the actuator, gas generator, and load were built. Furthermore, considering the identification of the model parameters and the inapplicability of the conventional Stribeck identification method to the flow regulator, a new Stribeck model parameter identification method was proposed. A sine wave was used as the signal source, and specially designed devices were used to accomplish the switch of the working condition. Through the use of the genetic algorithm, the rotational inertia and parameters of the system load and working load were identified by stages. Finally, the validation of the identification method was carried out with a simulation.