摘要
针对坦克全电炮控系统中存在齿隙、摩擦及参数变化等多种非线性因素从而影响系统的稳定性及跟踪目标精度的问题,提出一种基于预设误差性能的目标精度控制方法。通过分析坦克炮控系统数学模型及非线性特性,采用非线性干扰观测器补偿摩擦以及外界干扰等非线性干扰项,并设计速度跟踪误差性能函数,将输出误差的收敛速度和稳态值限定在预设的范围内,并采用反演法设计鲁棒控制器,实现了系统输出误差按照指定的性能函数收敛并具有一定的鲁棒性,基于Lyapunov稳定性理论证明了整个闭环系统的稳定性。仿真结果表明所设计的控制器能够有效地抑制了多种非线性因素的影响,同时炮控系统对给定跟踪指令实现快速准确的跟踪控制。
In the paper,a target precision control method based on preset error performance is proposed. By analyzing the mathematical model and nonlinear characteristics of tank gun control system, a nonlinear disturbance ob- server is used to compensate the system＇s friction and other external nonlinear disturbances. On this basis, we design a speed tracking error performance function. The convergence rate and steady - state value of the output error are lim- ited in the preset range,and a back stepping method is used to design robust controller. The system output error can converge according to the specified performance function and has certain robustness. The stability of the closed - loop system is proved based on the Lyapunov stability theory. The simulation results show that the proposed controller can effectively suppress the influence of various nonlinear factors, and the gun control system realizes fast and accurate tracking control for a given tracking command.
作者
王洪艳
乔继红
WANG Hong - yan QIAO Ji - hong(Department of Information Engineering,Academy of Armored Force Engineering, Beijing 100072, China School of Computer and Information Engineering, Beijing Technology and Business University, Beijing 100048, China)
出处
《计算机仿真》
北大核心
2017年第10期6-9,366,共5页
Computer Simulation
基金
军队重点科研项目(2011YY28)
关键词
坦克全电炮控系统
非线性干扰观测器
预置性能
精度控制
All- electrical tank gun control system
Nonlinear disturbance observer
Prescribed performance
Precision control
