[1]潘润超,李志刚,管佳伟.基于干扰观测器的弹丸协调臂Terminal滑模控制[J].机械与电子,2021,(01):62-66.
　PAN Runchao,LI Zhigang,GUAN Jiawei.The Projectile Coordinating Arm Terminal Sliding Control Based on Interference Observer[J].Machinery & Electronics,2021,(01):62-66.
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基于干扰观测器的弹丸协调臂Terminal滑模控制()
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机械与电子[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2021年01期
页码:
62-66
栏目:
自动控制与检测
出版日期:
2021-01-20

文章信息/Info

Title:
The Projectile Coordinating Arm Terminal Sliding Control Based on Interference Observer
文章编号:
1001-2257（2021）01-0062-05
作者:
潘润超; 李志刚; 管佳伟
南京理工大学机械工程学院,江苏 南京 210094
Author(s):
PAN Runchao;  LI Zhigang; GUAN Jiawei
 School of Mechanical Engineering,Nanjing Unirensity of Science and Techndogy, Nanjing 210094,China
关键词:
弹丸协调臂; 电液伺服系统; 干扰观测器;  Terminal滑模; 鲁棒性
Keywords:
projectile coordination arm;  electro-hydraulic servo system;  interference observer; The terminal sliding mode;  robustness
分类号:
TP273
文献标志码:
A
摘要:
为了解决某火炮弹丸协调臂电液伺服系统位置控制精度问题和鲁棒性问题，提出了一种基于扰动观测器的弹丸协调臂Terminal滑模控制策略。推导出弹丸协调臂电液伺服系统的动力学方程，将系统的参数不确定性以及外界扰动处理为干扰项。采用指数趋近的干扰观测器进行在线观测并在控制律中进行补偿，提高了系统的鲁棒性。同时为了克服传统滑模控制在线性滑模面条件下状态渐进收敛导致无法在有限时间内到达平衡状态的特点，设计了一种全局快速Terminal滑动模态，使系统在有限时间内到达滑模面，系统状态在有限时间内迅速收敛到平衡状态，最后利用Lyapunov证明全局稳定性。仿真结果证明，该控制策略能对电液伺服系统不确定性和干扰具有很好的鲁棒性，且能明显提高弹丸协调臂动态精度与稳态精度。
Abstract:
In order to solve the problem of position control accuracy and robustness of electro-hydraulic servo system of projectile coordinating arm of a gun, a sliding mode control of projectile coordinating arm Terminal strategy based on disturbance observer was proposed.The dynamic equation of the electro-hydraulic servo system of the projectile coordination arm is derived.An exponential approaching disturbance observer is used for on-line monitoring and compensation in the control law to improve the robustness of the system.At the same time in order to overcome the traditional sliding mode control under the condition of linear sliding mode surface state leads to gradual convergence to reach equilibrium in a limited time, the characteristics of a global fast Terminal sliding mode is designed, make the system reach the sliding surface in finite time, the system state rapidly converge to equilibrium state in a limited time, finally using Lyapunov prove global stability.The simulation results show that the control strategy has good robustness to the uncertainty and interference of the electro-hydraulic servo system, and can improve the dynamic accuracy and steady accuracy of the projectile coordination arm obviously.

参考文献/References:

[1].徐张宝,马大为,姚建勇,等.采用干扰估计的液压系统自适应鲁棒控制[J].西安交通大学学报,2016,50(8):123-129.
[2].郭新平,汪成文,刘华,等.基于扩张状态观测器的泵控电液伺服系统滑模控制[J].北京航空航天大学学报,2020,46(6):1159-1168.
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[5].姚来鹏,侯保林.弹药传输机械臂固定时间终端滑模控制[J/OL].哈尔滨工业大学学报:1-11[2020-07-21].http://kns.cnki.net/kcms/detail/23.1235.T.20200709.1521.002.html.
[6].GURUMURTHY G K ,DAS D K . Terminal sliding mode disturbance observer based adaptive super twisting sliding mode controller design for a class of nonlinear systems[J]. European journal of control,2020.,12(3):1-10.
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备注/Memo

备注/Memo:
收稿日期：2020-07-20
作者简介：潘润超（1995-），男，四川内江人，硕士研究生，研究方向为电液伺服控制；李志刚（1962-），男，北京人，副教授、硕士生导师，研究方向为兵器发射理论与技术；管佳伟（1994-），男，江苏苏州人，硕士研究生，研究方向为电液伺服控制。
更新日期/Last Update: 2020-12-28