自适应模糊滑模在火箭炮位置伺服系统中的应用

摘要

针对多管火箭炮交流位置伺服系统转动惯量和负载力矩变化大的特性,设计了自适应模糊滑模位置控制器.用模糊控制逼近理想滑模控制,设计切换控制补偿逼近误差,自适应控制调节模糊参数和切换控制的不确定上界.为了保证系统渐进稳定和可控,根据李亚普函数导出自适应率.仿真结果表明该控制策略不仅保证了系统的静、动态特性,而且对负载扰动和系统参数摄动具有较强的鲁棒性.%This paper describes an adaptive fuzzy sliding mode control algorithm for controlling as varied inertia moment and load moment on the ac position servo system of multiple rocket position controller. The fuzzy system is designed to mimic an ideal sliding-mode controller, and the switching controller compensates the difference between the fuzzy controller and the ideal one. The parameters of the fuzzy system, as well as the uncertainty bound of the switching controller, are tuned adaptively. The adaptive laws are derived in the Lyapunov sense to guarantee the asymptotic stability and tracking of the controlled syste. Simulation results show that the proposed approach can guarantee the static and dynamic characteristics, and the system takes on strong robustness to load disturbance and parameter perturbation.