基于高增益观测器的火炮药协调臂位置控制  

Artillery Charge Coordination Arm Position Control Based on a High-Gain Observer

作　　者：尹正林 尹强[1] 羊柳[1] YIN Zhenglin;YIN Qiang;YANG Liu(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,Jiangsu,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：《火炮发射与控制学报》2024年第3期63-69,共7页Journal of Gun Launch & Control

摘　　要：针对火炮协调输药机在协调过程中药协调臂运动到位精度不足的问题,提出了一种基于高增益观测器的火炮药协调臂自适应滑模控制策略,设计高增益观测器来估计火炮药协调臂伺服系统的未知状态并对其进行有效的在线跟踪和补偿,设计滑模控制器来消除所观测状态的误差,从而实现药协调臂机电伺服系统的快速高精度控制。针对滑模控制过程中出现的高频抖振现象,设计了一种自适应律并与滑模控制器相结合,从而极大地削弱了控制量的抖振。仿真实验结果表明,在输药机装满药的极端工况下,该控制策略能够大幅提高药协调臂的到位精度,具有较强的鲁棒性。Aiming at the problem that the in-position accuracy of the charge coordination arm movement in the coordination process of the artillery coordination conveyor is insufficient,an adaptive sli-ding mode control strategy of the artillery charge coordination arm based on a high-gain observer is proposed.It uses a high-gain observer to estimate the unknown state of the artillery charge coordination arm servo system and effectively tracks and compensates it online.A sliding mode controller is designed to eliminate the error of the observed state so as to realize fast and high-precision control of the charge coordination arm servo system.Aiming at the high-frequency chattering phenomenon in the sli-ding mode control process,an adaptive law is designed and combined with the sliding mode controller,which greatly reduces the chattering of the control quantity.Simulation results show that under extreme working conditions of the charge loader being fully filled,this control strategy can greatly improve the accuracy of the charge coordination arm in place and has strong robustness.

关 键 词：自动装填 药协调臂 高增益观测器 滑模控制 自适应律 

分 类 号：TJ33[兵器科学与技术—火炮、自动武器与弹药工程]