基于自适应滑模控制器的发射井筒开关盖过程控制  

Process Control of Launching Shaft Switch Cover Based on an Adaptive Sliding Mode Controller

作　　者：郭晨冰[1] 于朝 沈刚[2] GUO Chen-bing;YU Zhao;SHEN Gang(713 Institute of China Shipbuilding Industry Corporation,Zhengzhou,Henan 450000;School of Mechatronic Engineering,China University of Mining and Technology,Xuzhou,Jiangsu 221116)

机构地区：[1]中国船舶重工集团公司第七一三研究所,河南郑州450000 [2]中国矿业大学机电工程学院,江苏徐州221116

出　　处：《液压与气动》2020年第1期100-106,共7页Chinese Hydraulics & Pneumatics

基　　金：装备预研教育部联合基金(6141A020331)

摘　　要：我国舰艇导弹发射装置开关盖部分,一直以来均采用液压系统配合以开环单向控制的方式执行动作,导致动作精度无法保证,成为制约系统发展的一个重要原因。为提高开关盖过程的控制精度,以水下发射井筒开关盖装置为控制对象,利用干扰观测器观测外界干扰力并引入自适应滑模控制器中,来抑制外界干扰力对开关盖液压缸位置跟随精度的作用。通过自适应滑模控制器提高开关盖装置的环境适应性,满足不同水下深度时的液压缸位置跟随精度要求。实验表明,带干扰观测器的自适应滑模控制器能够有效抑制外界干扰力对位置跟随精度的影响;自适应滑模控制器可以提高开关盖装置的不同水下深度的环境适应性。In China,switch cover of ship missile launcher is usually operated by hydraulic system with open-loop and one-way control,which makes the accuracy of the action unable to be guaranteed and becomes an important reason to restrict the development of the system.In order to improve the control accuracy of the switch cover process,an adaptive sliding mode controller is used to improve the environmental adaptability of the switch cover device and meet the requirement of the position tracking accuracy of the hydraulic cylinder at different underwater depths and a disturbance observer is used to observe the external disturbance force to restrain the influence of that on the tracking accuracy of hydraulic cylinder.Experimental results show that the adaptive sliding mode controller with disturbance observer can effectively suppress the influence of the external disturbance on position tracking accuracy,and the adaptive sliding mode controller can improve the ecological adaptability of the switch cover device at different underwater depths.

关 键 词：舰船开关盖 电液位置伺服系统 干扰观测器 自适应滑模控制器 

分 类 号：TH137[机械工程—机械制造及自动化]