摘要
为提高大口径火炮自动装填过程中回转弹仓工作的精确性和鲁棒性,在分析现有拟连续算法相关研究内容的基础上,设计一种全新的改进拟连续控制器对回转弹仓进行位置控制。通过与滑模扰动观测器相结合,新控制器增益不依赖于系统扰动的不确定性边界,且不需引入额外的控制器参数,降低了控制器的设计和调试难度。通过Lyapunov方程验证控制器本身及闭环系统的稳定性。仿真和试验结果表明:新设计的控制器相对于已有拟连续算法具有优越性,在受到不确定时变负载和不确定参数扰动的情况下,新设计的改进控制器在应用于回转弹仓时,在趋近段可以获得更快的收敛速度,减小到位超调量,并在滑动段有效减弱抖振。
Based on the existing researches on quasi-continuous algorithm,a novel improved quasi-continuous controller is designed to improve the precision and robustness of rotational shell magazine position control in the automatic loading process of a large caliber artillery.By combining a sliding mode disturbance observer,the novel controller is independent of the unknown system uncertainty boundary,and no new parameters are introduced,which will lower the difficulties of controller designing and adjusting.The stabilities of controller and close-loop scheme are verified by Lyapunov functions.The simulated and experimental results have demonstrated the superiority of the improved controller over the existing quasi-continuous algorithm.In the presence of unknown time-varying disturbance and uncertain parameters,the improved controller could achieve a higher convergence rate in reaching phase,reduce the overshoot and restrain chattering in sliding phase while performed on the magazine.
作者
陈冬
钱林方
陈志群
陈龙淼
邹权
陈军华
CHEN Dong;QIAN Linfang;CHEN Zhiqun;CHEN Longmiao;ZOU Quan;CHEN Junhua(College of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,Jiangsu,China;Northwest Institute of Mechanical and Electrical Engineering,Xianyang 712099,Shaanxi,China;The 28th Research Institute of China Electronics Technology Group Corporation,Nanjing 210007,Jiangsu,China;College of Aeronautics and Mechanical Engineering/College of Flight,Changzhou Institute of Technology,Changzhou 213032,Jiangsu,China)
出处
《兵工学报》
EI
CAS
CSCD
北大核心
2024年第5期1436-1448,共13页
Acta Armamentarii
基金
国家自然科学基金项目(U2141246)。
关键词
回转弹仓
不确定扰动
改进拟连续控制器
滑模扰动观测器
rotational shell magazine
uncertain disturbance
improved quasi-continuous controller
sliding mode disturbance observer
