火炮模块药输送伺服系统自适应模糊滑模控制

摘要

An adaptive fuzzy sliding mode controller (AFSMC) with an integral sliding mode function is proposed for the control of the artillery modular charge transport servo system which has time-varying parameters and chattering problem.The time-varying system parameters are estimated by using adaptive method.The influence of model uncertainty on the control system is reduced.Then,the traditional switching function is replaced by an improved saturation function.This ensures that the process of switching is more continuous and smooth.The coefficient of switching is tuned online by the fuzzy adaptive scheme.In this way,the robustness of system is enhanced,and the chattering of system is restrained.Experimental results show the system has a good position tracking performance under empty-load,half-load and full-load,which can meet the performance index.The proposed AFSMC scheme can overcome the influence of variable loads on the control precision of the system.%针对火炮模块药输送伺服系统传动过程中存在参数时变和抖振等问题,设计了一种带有积分滑模函数的自适应模糊滑模控制器.采用自适应方法对系统时变参数进行估计,减小不确定部分对控制系统的影响.引入新型饱和函数代替传统切换函数,保证整个切换过程连续、平滑过渡;采用模糊自适应算法对切换系数在线调整,提高系统的鲁棒性能,进一步抑制切换过程中的抖振.实验结果表明,火炮模块药输送伺服系统在空载、半载和满载3种情况下均具有良好的位置跟踪性能,满足性能指标要求,提出的自适应模糊滑模控制算法能够克服负载变化对系统控制精度的影响.