某型步战车炮控系统的新型LADRC控制器设计

摘要

Aiming at the problem of measured noise in practical engineering,a new LADRC in the core of ESO including filter is proposed. Based on the measured data of a Certain Wheel Infantry Fighting Vehicle and recursive least squares algorithm for system parameters identification,the model of the Gun Control System is gotten. PID controller,LADRC controller and the new LADRC controller to simulate are used. From the result,it is concluded that the new LADRC controller has advantage over PID controller in the disturbance rejection and robustness and the new LADRC has advantage over the LADRC and their stable precision of visible axis could be well improved.%针对工程实际中量测输出含有噪声这一问题，设计了以带有滤波器的新型扩张状态观测器为核心的新型线性自抗扰（LADRC）控制器。基于某型步战车实测数据，运用递推最小二乘法对模型参数进行辨识，从而得到炮控系统模型。分别用PID控制器，LADRC控制器和新型LADRC控制器进行了仿真。结果表明，新型LADRC的抗扰性和鲁棒性优于PID；当输出加入量测噪声时新型LADRC比LADRC控制效果有改善，两者都能够在保持控制系统原有特性基础上大幅提升炮控系统的稳定精度。