基于干扰观测器的弹丸协调臂Terminal滑模控制  

The Projectile Coordinating Arm Terminal Sliding Control Based on Interference Observer

作　　者：潘润超 李志刚[1] 管佳伟 PAN Runchao;LI Zhigang;GUAN Jiawei(School of Mechanical Engineering,Nanjing Unirensity of Science and Techndogy,Nanjing 210094,China)

机构地区：[1]南京理工大学机械工程学院,江苏南京210094

出　　处：《机械与电子》2021年第1期62-66,共5页Machinery & Electronics

摘　　要：为了解决某火炮弹丸协调臂电液伺服系统位置控制精度问题和鲁棒性问题,提出了一种基于扰动观测器的弹丸协调臂Terminal滑模控制策略。推导出弹丸协调臂电液伺服系统的动力学方程,将系统的参数不确定性以及外界扰动处理为干扰项。采用指数趋近的干扰观测器进行在线观测并在控制律中进行补偿,提高了系统的鲁棒性。同时为了克服传统滑模控制在线性滑模面条件下状态渐进收敛导致无法在有限时间内到达平衡状态的特点,设计了一种全局快速Terminal滑动模态,使系统在有限时间内到达滑模面,系统状态在有限时间内迅速收敛到平衡状态,最后利用Lyapunov证明全局稳定性。仿真结果证明,该控制策略能对电液伺服系统不确定性和干扰具有很好的鲁棒性,且能明显提高弹丸协调臂动态精度与稳态精度。In order to solve the problem of position control accuracy and robustness of electrohydraulic servo system of projectile coordinating arm of a gun,a sliding mode control of projectile coordinating arm Terminal strategy based on disturbance observer was proposed.The dynamic equation of the electrohydraulic servo system of the projectile coordination arm is derived.An exponential approaching disturbance observer is used for online monitoring and compensation in the control law to improve the robustness of the system.At the same time in order to overcome the problem that the traditional sliding mode control cannot reach the equilibrium state in finite time due to the progressive convergence of the state under the condition of linear sliding mode surface,a global fast Terminal sliding mode is designed,making the system reach the sliding surface in finite time and making the system state rapidly converge to equilibrium state in a limited time,finally Lyapunov is used to prove global stability.The simulation results show that the control strategy has good robustness to the uncertainty and interference of the electrohydraulic servo system,and can improve the dynamic accuracy and steady accuracy of the projectile coordination arm obviously.

关 键 词：弹丸协调臂 电液伺服系统 干扰观测器 TERMINAL滑模 鲁棒性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]