基于扰动观测器的传弹机械手自适应滑模控制

摘要

An adaptive sliding mode control scheme based on disturbance observer ( ASMC-DOB ) is proposed here for the rotating positioning control of the projectile-transferred manipulator of the large-caliber artillery with load changes,friction and un-modeled dynamics. The disturbance observer is in-troduced to estimate the equivalent load torque online, its estimation error is compensated by the switching function of sliding mode control,and the gain is ensured not to be overestimated by a new adaptive tuning gain method. The Lyapunov theory is employed to examine the system stability. The experiment results show that the proposed control scheme has good robustness to the parametric variation of a projectile-transferred manipulator of the large-caliber artillery and it can meet the rotating positioning requirement of the artillery precisely and quickly.%针对大口径火炮的传弹机械手旋转定位控制存在负载变化、摩擦因素和未建模动态等不确定性问题，该文提出一种基于扰动观测器的传弹机械手旋转定位自适应滑模控制策略。在控制策略中引入扰动观测器在线估计等效扰动力矩，其估计误差由滑模控制的切换项补偿；并采用一种新型增益自适应方法确保切换项增益不被过高估计，进而设计一类Lyapunov函数验证闭环系统的稳定性。实验结果表明，该控制策略对传弹机械手的负载变化具有较强的鲁棒性，可以满足大口径火炮传弹机械手快速精确的旋转定位要求。