基于DOB和二自由度控制器的某火炮稳定控制系统设计

摘要

The artillery stability control system performance can be influenced by the external disturbance such as the road condition,the impact moment caused by the gun firing,the change of the friction torque,the measurement noise,the change of the moment of intertia and so on.Order to solve this problem,a DOB observer and two degree of freedom control algorithm is introduced to reduce the influenc of friction on the performance of the system,and to improve the ability of the system to isolate the disturbance of the carrier.Simulation and experimental results show that the proposed algorithm can effectively improve the stability accuracy and speed servo performance of the system.%火炮稳定控制系统性能会受到如路况、火炮射击时产生的冲击力矩等外部扰动以及摩擦力矩变化、测量噪声、转动惯量变化等内部参数摄动的影响.针对此问题,引入一种DOB观测器和二自由度控制算法,来减少摩擦对系统性能的影响,提高系统对载体扰动的隔离能力.仿真和实验结果表明,所提出的算法可以有效提高系统的稳定精度和速度伺服性能.