坦克炮控伺服系统未知摩擦的自适应补偿控制

摘要

摩擦的存在导致坦克炮控系统出现低速爬行等现象,使系统性能变差.针对该系统,提出未知摩擦的自适应补偿控制.更具一般性的未知摩擦及系统的参数不确定性使得对摩擦的自适应补偿变的非常困难.在控制器设计中,通过精确估计摩擦及系统中的未知参数、观测摩擦内动态对其进行补偿,从而避免了由于简单地把摩擦看成外界扰动进行补偿所造成的系统性能的损失.同时全面考虑了系统的不确定性和外界扰动,使得控制器有较强的抗干扰性.%The existence of friction in gun control systems of tank may lead to static-slip phenomena,even the system performance is affected.A new control scheme based on adaptive compensation of unknown friction is proposed.Unlike some existing control schemes,more general model of unknown friction is considered here.The possible loss of performance cause by considering friction as disturbance is avoid through estimating unknown parameters.Finally,the parametric uncertainties and unknown external disturbance are considered which make the controller has strong robustness.