基于全局反步滑模控制的舰炮随动系统齿隙补偿方法  

Backlash compensation method in naval gun servo system based on global back-stepping sliding mode control

作　　者：姜尚 田福庆[1] 梁伟阁 JIANG Shang;TIAN Fu-qing;LIANG Wei-ge(Dept.of Weaponry Engineering,Naval Univ.of Engineering,Wuhan 430033,China)

机构地区：[1]海军工程大学兵器工程学院,武汉430033

出　　处：《海军工程大学学报》2018年第5期92-98,共7页Journal of Naval University of Engineering

摘　　要：针对舰炮随动系统中存在的非线性齿隙,首先在双惯量系统中引入近似死区模型,考虑五级海况射击时的外界非线性时变干扰,建立了含齿隙系统的状态空间模型,并将其划分为4个子系统;然后,基于反步控制理论,通过递推逐步构造Lyapunov函数,在第4步结合滑模控制,设计了全局反步滑模控制器,并运用Barbalat定理证明了系统稳定。仿真分析表明:较PID控制,该方法不仅能更有效地补偿齿隙,还削弱了传动力矩、负载转速在换向期间的抖振,同时使系统具有更高的位置跟踪精度和鲁棒性。In view of the nonlinear backlash in naval gun servo system,a compensation method based on global back-stepping sliding mode control is proposed.Firstly,with an approximate dead-zone introduced into the double inertia system,and with the nonlinear time-varying disturbances in the shooting of five stage sea condition considered,the state space model of the system with backlash is established,which is divided into 4 subsystems.Then,based on back-stepping control theory,the Lyapunov function is constructed gradually by recursion.In the fourth step,a global back-stepping sliding mode controller is designed in combination with sliding mode control,and the stability of the system is proved by Barbalat theorem.Simulation analysis shows this method not only compensates the backlash more effectively,but weakens the chatters of driving torque and load speed during the commutation period,thus enabling the system to possess higher position tracking accuracy and robustness than PID control.

关 键 词：反步 滑模 舰炮随动系统 齿隙补偿 

分 类 号：TJ810.376[兵器科学与技术—武器系统与运用工程]