火炮随动系统自适应滑模控制算法研究  

Research on adaptive sliding mode control algorithm for artillery servo system

作　　者：张高生 马捷[1] 李伟[1] 韩崇伟[1] 代普[1] ZHANG Gaosheng;MA Jie;LI Wei;HAN Chongwei;DAI Pu(Northwest Institute of Mechanical & Electrical Engineering, Xianyang 712099, China)

机构地区：[1]西北机电工程研究所,陕西咸阳712099

出　　处：《兵器装备工程学报》2022年第S01期108-112,共5页Journal of Ordnance Equipment Engineering

摘　　要：针对防空火炮对随动系统高精度和强鲁棒性的要求,研制了一种自适应滑模控制系统。所设计的自适应控制律可以根据滑模变量误差大小自动地调节滑模控制器增益,有效解决了系统参数未知及外部干扰未知情况下控制增益不易确定的问题。为了解决滑模控制中不连续符号函数导致的系统抖动,对符号函数进行了连续化,抑制系统抖动,使系统具有较小误差。随后根据Lyapunov稳定性理论证明了滑模变量在有限时间内到达包含滑模面的边界层以及随动系统跟踪误差的最终一致有界性。最后通过数值仿真说明结果有效。Focusing on the requirements of anti-aircraft artillery for the high precision and robustness of the servo system,this paper studied an adaptive sliding mode control method.The designed adaptive control law adjusted the sliding mode control gain automatically according to the sliding variable.It effectively solves the difficulty of determining the sliding mode control gain with unknown system parameters and unknown disturbance.To eliminate the shortcomings of chattering caused by the discontinuous sign function in the sliding mode control,the sign function was smoothed by a continuous function.Then according to the Lyapunov theory,it is proved that the sliding variable reaches a boundary layer containing the sliding surface in finite time,and that the tracking error of the artillery servo system is uniformly ultimately bounded.Finally,numerical simulation was carried out to illustrate the effectiveness of the theoretical results.

关 键 词：连续滑模控制 自适应控制 防空火炮 伺服系统 

分 类 号：TJ301[兵器科学与技术—火炮、自动武器与弹药工程] TP273[自动化与计算机技术—检测技术与自动化装置]