基于准滑动模态的动态非平衡身管高精度俯仰控制  

High-Precision Pitch Control of Dynamic Non-equilibrium Body Tube Based on Quasi-Sliding Mode

作　　者：高钰豪 褚渊博 GAO Yuhao;CHU Yuanbo(School of Opto-electronical Engineering,Xian Technological University,Xian Shaanxi 710021,China)

机构地区：[1]西安工业大学光电工程学院,陕西西安710021

出　　处：《机床与液压》2024年第10期21-26,共6页Machine Tool & Hydraulics

基　　金：国家自然科学基金青年科学基金项目(51805403);中国博士后科学基金面上项目(274590)。

摘　　要：非平衡身管俯仰系统属于典型的电液伺服系统,在路面波动条件下实现其高精度位置控制,可有效提升身管武器的远程精准打击能力。为此,分析非平衡身管俯仰工作原理及路面波动影响机制,建立各组件的数学模型并联立得到系统状态空间模型;基于准滑动模态,设计改进饱和函数的双幂次趋进律滑模控制器;最后,搭建路面波动条件下非平衡身管俯仰滑模控制仿真模型,进行仿真分析并与指数趋进律、双幂次趋进律滑模控制器的控制效果对比,验证所提方法的可行性和有效性。结果表明:所提方法具有跟踪精度高、响应时间短、抖振抑制效果好且所需能量少等优势,可满足动态非平衡身管高精度控制的需求。The non-equilibrium body tube pitch system is a typical electro-hydraulic servo system.Achieving high-precision posi-tion control under road roughness conditions can effectively improve the long-range accuracy of gun weapons.Therefore,the working principle of the non-equilibrium body tube pitch system and the mechanism of road roughness influence were analyzed.The mathemati-cal models of each component were established and the system state space model was obtained.Furthermore,based on the quasi-sliding mode,a double power reaching law sliding mode controller with improved saturation function was designed.Finally,a simulation model of the non-equilibrium body tube pitch sliding mode control under road roughness conditions was built.The simulation analysis was per-formed and compared with the control effect of sliding mode controllers with exponential reaching law and double power reaching law to verify the feasibility and effectiveness of the proposed method.The results show that the proposed method has the advantages of high tracking accuracy,short response time,good chattering reduction effect,and low energy consumption,which can meet the requirements of high-precision control of dynamic non-equilibrium body tube.

关 键 词：准滑动模态 电液伺服系统 非平衡身管俯仰系统 高精度位置控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]