基于非奇异终端滑模观测器的火箭炮系统控制

摘要

针对火箭炮位置交流伺服系统转动惯量变化范围大，燃气流冲击力矩强等特点，建立发射动力学与电气耦合模型，研究火箭炮在伺服系统闭环状态下调炮、射击时位置控制系统控制特性。在系统位置控制中引入了非奇异终端滑模观测器，在火箭炮射击等情形下，对火箭炮系统外部干扰项进行估计，削弱控制量抖振，提高传统滑模控制方法对于外界干扰的鲁棒性。通过仿真计算与结果对比，所提控制方法鲁棒性强于传统滑模控制，控制精度优于PID控制。%Aimed at the features of wide variations in the moment of inertia,large disturbed moment of force in the position AC servo system of a rocket launcher system,a kind of launch-ing dynamics model and a type of control system model were established,and the control char-acteristics analysis and study on the closed system were carried out under the condition of the gun firing or the gun moving.And a nonsingular terminal sliding mode observer method was presented to eliminate the chattering phenomenon and improve the robustness under external disturbances.Finally,the simulation results showed that the proposed control method has the stronger robustness than the traditional sliding mode control,and has the better accuracy than the PID control.