基于干扰观测器的坦克伺服系统滑模变结构控制  

Sliding Mode Variable Structure Control for Tank Servo System Based on Disturbance Observer

作　　者：王洪艳[1,2] 王庆林[2] 左哲[2] 乔继红[3] 夏玉辉[1] 

机构地区：[1]装甲兵工程学院信息工程系,北京100072 [2]北京理工大学信息科学技术学院,北京100081 [3]北京工商大学信息工程学院,北京100037

出　　处：《系统仿真学报》2009年第14期4487-4491,共5页Journal of System Simulation

摘　　要：针对坦克伺服系统中存在的外部干扰、内部参数的不确定性问题,提出干扰观测器作为内环和滑模变结构控制作为外环的双环控制方案。在二自由度意义下分析干扰观测器系统的鲁棒性和性能,通过合理设计低通滤波器,干扰观测器可补偿大的干扰和不确定性,同时还可减少滑模变结构控制的抖振现象。滑模变结构控制器可用来消除干扰观测误差,并满足系统跟踪性能的要求。所设计的方法用于坦克伺服系统进行仿真研究。结果表明该方法能较好地满足跟踪精度的要求,同时系统具有较强的适应性和鲁棒性。A two-loop control approach using the disturbance observer （DOB） as inner loop and the sliding mode variable structure control （SMVSC） as outer loop was proposed to deal with the external disturbance, the uncertainty of inner parameters existed in the tank gun servo system. Through analysis, the robustness and performance of the DOB system in the name of two-degree-freedom, DOB compensates large perturbation and uncertainties by designing an adequate low pass filter, further the chattering of SMVSC can be reduced. Also SMVSC eliminates the DOB＇s error, and satisfies the tracking performance. Finally, the approach is used in the tank gun servo system. Computer simulations show that the tracking accuracy is much better and the control system has strong adaptability and robustness

关 键 词：干扰观测器 二自由度 鲁棒性 滑模变结构控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]