面向动态目标跟踪的全电坦克自适应鲁棒控制策略研究  

Adaptive Robust Control of Moving Target Tracking for All-Electrical Tank Gun Control System

作　　者：陆浣清 王修业 孙芹芹 王银龙 陈雨 LU Huanqing;WANG Xiuye;SUN Qinqin;WANG Yinlong;CHEN Yu(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,Jiangsu,China;School of Energy and Power Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,Jiangsu,China)

机构地区：[1]南京理工大学机械工程学院,江苏南京210094 [2]南京航空航天大学能源与动力工程学院,江苏南京210016

出　　处：《火炮发射与控制学报》2023年第4期33-42,共10页Journal of Gun Launch & Control

基　　金：中央高校基本科研业务费专项资金资助(NS2022020);国家自然科学基金面上项目(52175099);中国博士后基金面上项目(2020M671494);江苏省博士后科研资助计划项目(2020Z179)。

摘　　要：针对全电坦克火炮稳定系统存在自身不确定性和外部干扰影响、行进间动态目标跟踪不易稳定的难点,设计一种自适应鲁棒控制器,从而满足新一代坦克高速行进间射击的性能指标。综合考虑了坦克行进间火炮稳定系统的非线性、耦合性和不确定性,基于伺服电机和电动缸动力学特性,建立了全电执行器的坦克双向稳定系统动力学模型,并将模型以状态空间形式表达。针对系统中存在的不确定性和外部干扰,根据实用稳定理论,分析受控系统的不确定性边界情况,设计自适应律,进而构建自适应鲁棒控制策略。通过开展仿真实验,验证了所设计控制器能克服系统复杂不确定性干扰,促使坦克火炮快速、稳定地调整到期望角度。Aiming at the problems of the stabilization system of all-electric tank gun,including uncertainty,external disturbance and unsteady tracking moving targets during traveling,an adaptive robust controller was designed to meet performance requiremnets of new generation tank for firing on the move.The nonlinearity,coupling and uncertainty of the artillery stabilization system during traveling was analyzed comprehensively,a dynamic model of the tank bidirectional stabilization system with all-electric actuators was established based on the dynamic characteristics of the servo motor and electric cylinder,and the model was expressed in the form of state space.As for the uncertainty,external disturbance and uncertainty boundary of controlled system was analyzed and an adaptive robust control strategy was constructed based on stability theory,as well as simulation experiments were carried out.The results show that the controller can overcome uncertain disturbance and enable the tank gun to adjust to the desired angle quickly and stably.

关 键 词：动态目标跟踪 坦克火炮稳定系统 动力学建模 自适应鲁棒控制器 实用稳定性 

分 类 号：TJ811[兵器科学与技术—武器系统与运用工程]