基于跟踪微分器的自行高炮分数阶控制

摘要

针对自行高炮位置伺服系统跟踪速度要求高、射击时干扰强、跟踪精度对信号噪声敏感的特点，提出了一种基于跟踪微分器的分数阶控制律的改进方案。通过合理的假设和近似，建立了自行高炮位置伺服系统的饱和非线性模型；在此基础上设计了主令和反馈通道上的跟踪微分器，以滤除信号噪声得到工程实用的微分信号；再经由分数阶 PID 控制器得到控制量，以增加系统带宽。比较分析了设计的控制律与传统整数阶 PID 控制器在伺服跟踪和冲击力矩干扰下的控制效果。仿真结果表明，采用提出的方法能提高自行高炮响应速度和增加系统带宽，有效抑制噪声信号和外部力矩干扰。%A modified fractional-order control method based on tracking-differentiator was pro-posed for position servo system of self-propelled antiaircraft gun with the characteristics of high tracking speed,strong firing disturbance and sensitiveness to signal noise.Under reasonable hypotheses and approximations,a saturation nonlinear model of gun position servo system was established.Then tracking-differentiators were designed in master signal and feedback channels to weaken the noise and get practical differential signal.The controlled quantity output was calculated out by a fractional-order PID controller to increase the system bandwidth.Further more,the control effects of proposed control laws were compared with traditional integer-order PID controller in the situation of servo tracking and disturbance of impact moment respectively. The simulation results show that the proposed method can increase the response speed of the self-propelled antiaircraft gun and system bandwidth,which can effectively restrain the noise as well as external moment disturbance.