基于改进LuGre摩擦模型的双旋弹丸固定舵翼滚转位置鲁棒自适应控制算法  

Robust Adaptive Control of Roll Position of Fixed Rudder for Dual-spin Projectile with Improved LuGre Friction Model

作　　者：殷婷婷 贾方秀 于纪言 王晓鸣 YIN Tingting;JIA Fangxiu;YU Jiyan;WANG Xiaoming(Ministerial Key Laboratory of ZNDY,Nanjing University of Science and Technology,Nanjing 210094,Jiangsu,China)

机构地区：[1]南京理工大学智能弹药技术国防重点学科实验室

出　　处：《兵工学报》2019年第12期2425-2432,共8页Acta Armamentarii

基　　金：国家自然科学基金项目(61201391)

摘　　要：针对双旋弹丸舵翼滚转位置系统存在非线性摩擦、不确定性参数以及时变扰动等问题,提出一种基于连续可微LuGre摩擦模型的鲁棒自适应控制策略。以基于永磁同步发电机为电磁执行机构的舵翼滚转位置控制系统为研究对象,建立包含改进摩擦模型的系统非线性数学模型。通过对未建模扰动的上界进行自适应估计,在控制器中设计扰动补偿鲁棒反馈项将其补偿,降低扰动对控制性能的影响。对系统不确定性参数、摩擦状态量进行在线自适应估计,并结合摩擦补偿设计自适应控制律,降低系统对参数不确定性和非线性摩擦的敏感度。通过Lyapunov稳定性理论证明了闭环系统的全局稳定性。仿真结果表明:该方法能准确地对模型参数、非线性摩擦状态以及扰动进行估计和补偿,具有控制精度高、稳定性好和鲁棒性强等优点。A robust adaptive control strategy based on a continuously differentiable LuGre friction model is proposed for the roll position control of fixed rudder canard in dual-spin trajectory correction projectile with nonlinear friction,uncertain parameters and time-varying disturbance. A nonlinear mathematical model,including the improved continuous friction model,is established for the electromagnetic actuator based on the permanent-magnet synchronous generator( PMSG). A robust feedback compensation term based on the estimated upper bound of un-modeled disturbance is designed to reduce the influence of external disturbance on control performance. An adaptive control law is proposed by compensating for friction and adaptively estimating the system parameters and friction states online,which can effectively reduce the sensitivity of system to parameter uncertainties and nonlinear frictions. The global stability of closed-loop system is proved by Lyapunov analysis. Simulated results show that the proposed strategy can be used to accurately estimate and compensate for time varying parameter,uncertainties,nonlinearities and disturbances,and has the advantages of high accuracy and strong robustness.

关 键 词：双旋弹 滚转位置 位置控制 摩擦模型 鲁棒自适应控制 

分 类 号：TJ413.6[兵器科学与技术—火炮、自动武器与弹药工程]