无人战车火炮速度环自抗扰设计  

Active Disturbance Rejection Control Design of Speed Loop for Unmanned Ground Vehicle Gun

作　　者：雷曙遥 潘军[1] LEI Shuyao;PAN Jun(Northwest Institute of Mechanical&Electrical Engineering,Xianyang 712099,Shaanxi,China)

机构地区：[1]西北机电工程研究所,陕西咸阳712099

出　　处：《火炮发射与控制学报》2023年第2期52-57,64,共7页Journal of Gun Launch & Control

摘　　要：科技的进步和发展正推动着无人战车向信息化、智能化、高机动性和高效率的方向前进。无人战车火炮在追求轻量化设计的同时存在传动刚度差的问题;行进间的姿态扰动、齿轮间隙以及系统结构传动的非线性因素会增加控制难度,严重影响火炮的调炮精度和稳定性;高精度的射击以及稳定性要求对无人战车火炮控制策略、控制精度以及抗扰能力提出考验。根据火炮随动系统基本原理建立随动系统动力学模型,在研究PID控制算法、复合内模控制算法以及自抗扰控制算法的控制精度以及抗扰能力并进行仿真对比的基础上,设计速度环自抗扰控制器,研究多种扰动信号下自抗扰控制的扰动抑制能力,配置参数进行仿真验证。结果表明所设计的速度环自抗扰控制器能够有效地对扰动总体进行观测,并对扰动进行补偿,提高火炮随动系统的扰动抑制能力,从而实现了无人战车火炮随动系统的高精度、高鲁棒性。The progress and advance of science and technology is promoting the development of unmanned vehicle to the direction of information,intelligence,high mobility and high efficiency.The problem of poor transmission stiffness exists in the pursuit of lightweight design of unmanned vehicle gun.The attitude disturbance,gear clearance and the nonlinear factors of system structure transmission will increase the control difficulty and seriously affect the accuracy and stability of gun adjustment.The requirements of high firing accuracy and stability challenge the control strategy,control precision and disturbance rejection ability of the unmanned vehicle gun.In this paper,the dynamics model of the servo system was established according to the basic principle of the gun servo system.On the basis of studying the control accuracy and disturbance rejection ability of PID control algorithm,composite internal model control algorithm and active disturbance rejection control algorithm,and on the basis of simulation comparison,the speed loop active disturbance rejection controller was designed to study the disturbance suppression ability of active disturbance rejection control under various disturbance signals.Parameters were configured for simulation.The results show that the designed speed loop active disturbance rejection controller can effectively observe the overall disturbance and compensate the disturbance,improve the disturbance suppression ability of the gun servo system,and realize the high precision and high robustness of the unmanned vehicle gun servo system.

关 键 词：火炮随动系统 调炮精度 扰动抑制 自抗扰 

分 类 号：TJ303[兵器科学与技术—火炮、自动武器与弹药工程]