基于自耦PID控制理论的自行高炮随动系统  

Servo System of Self-propelled Antiaircraft Gun Based on Auto-coupling PID Control Theory

作　　者：沈凯 韩崇伟[1] 曾喆昭[2] 李长红[1] 张子雒 耿晓虎 SHEN Kai;HAN Chongwei;ZENG Zhezhao;LI Changhong;ZHANG Ziluo;GENG Xiaohu(Northwest Institute of Mechanical&Electrical Engineering,Xianyang 712099,China;School of Electrical&Information Engineering,Changsha University of Science&Technology,Changsha 410114,China)

机构地区：[1]西北机电工程研究所,陕西咸阳712099 [2]长沙理工大学电气与信息工程学院,长沙410114

出　　处：《火力与指挥控制》2025年第2期121-128,共8页Fire Control & Command Control

摘　　要：针对自行高炮随动系统高精度、快速响应、强鲁棒性的特点,以及存在参数摄动和外部干扰等问题,设计了一种基于自耦PID控制理论的控制方法,将高炮内部动态与外部不确定性定义为总和扰动,构建了总和扰动激励下的高炮受控误差系统,设计自耦PID控制律,并在系统的过渡过程中设计跟踪微分器,理论分析了高炮随动系统的鲁棒稳定性和抗扰动鲁棒性,仿真和实验结果表明了控制方法的有效性,在高炮随动系统设计中具有良好的应用前景。Aiming at such characteristics of self-propelled antiaircraft gun servo system as high precision,fast response and strong robustness,as well as the problems of parameter perturbation and external interference,a control method based on auto-coupling PID control theory is designed.The internal dynamics and external uncertainties of antiaircraft gun are defined as summation perturbations,and a controlled error system of antiaircraft gun under the excitation of summation perturbations is constructed.The auto-coupling PID control law is designed,the tracking differentiator is designed in the transition process of the system,and the robust stability and anti-perturbation robustness of the anti-aircraft gun servo system are analyzed theoretically.The simulation and experimental results show the effectiveness of the control method,which has a good application prospect in the design of anti-aircraft gun servo system.

关 键 词：自行高炮 自耦PID 鲁棒控制 跟踪微分器 速度因子 

分 类 号：TJ35[兵器科学与技术—火炮、自动武器与弹药工程]