遥控武器站伺服系统的模糊LQR控制方法  

Fuzzy LQR Control Method for Servo System of Remote Control Weapon Station

作　　者：田湦 韩奋凯 赵晓阳 张文丽 曲俊海[1] TIAN Sheng;HAN Fenkai;ZHAO Xiaoyang;ZHANG Wenli;QU Junhai(North Automatic Control Technology Institute,Taiyuan 030006,China)

机构地区：[1]北方自动控制技术研究所,太原030006

出　　处：《火力与指挥控制》2024年第6期177-185,共9页Fire Control & Command Control

摘　　要：针对遥控武器站伺服控制系统中存在负载力矩变化大、跟踪精度要求高等特点,提出一种模糊LQR控制策略,运用于武器站转速控制,以解决PI控制器存在快速性和稳态精度之间的矛盾,以及鲁棒性较差的问题。基于永磁同步电机转速跟踪模型设计了LQR控制器;针对LQR控制器权重系数固定、调参困难,且电机在不同转速和负载条件下运行时参数适应性较差的问题,提出了一种基于转速跟踪误差的LQR权重系数模糊调整策略,并以此设计模糊LQR控制器。通过仿真与实物试验,验证了控制器的控制性能。结果表明,设计的模糊LQR控制器在不同转速下均具有较高的跟踪精度与稳定性,同时对负载扰动和系统参数摄动具有较强的鲁棒性。In the servo control system of remote control weapon station,as such features exist as large charges of load torque,high requirements for tracking accuracy,etc.,a fuzzy LQR control strategy is proposed,which is applied to the speed control of weapon station.To solve the contradiction between fast and steady state accuracy existing in PI controller and poor robustness problems.The LQR controller is designed based on the rotation speed tracking model of permanent magnet synchronous motor.Aiming at the problems of fixed weight coefficient of LQR controller,difficult parameter adjustment,and poor parameter adaptability of motor running under different rotation speed and load conditions,a fuzzy adjustment strategy of LQR weight coefficient based on rotation speed tracking error is proposed,and a fuzzy LQR controller is designed on such basis.The control performance of the controller is verified by simulation and physical testing.The results show that the designed fuzzy LQR controller has higher tracking accuracy and stability at different rotation speeds,and while has strong robustness to load disturbance and system parameter perturbation.

关 键 词：遥控武器站 伺服系统 模糊控制 模糊LQR LYAPUNOV稳定性 

分 类 号：E917[军事] TJ01[兵器科学与技术—兵器发射理论与技术]