针对火炮链传动药仓在运动过程中存在负载非线性变化、抖振、参数不确定、非线性摩擦等问题,提出了一种自适应滑模控制策略.通过对系统等效转动惯量、扰动力矩等参数采取自适应估计,缓解了参数不确定性对模型的影响,使系统数学模型更加准确.采用新型双幂次趋近律降低切换过程中系统的抖振现象,并对趋近参数进行自适应在线选取,进一步提高了趋近过程和切换过程的鲁棒性.系统在不同负载下进行试验验证,结果表明,在该控制策略下,空载、半载、满载的链传动药仓均具有较好的稳定性和较高的控制精度,能够保证电机输出轴动态误差小于2.5 rad,稳定误差小于0.8 rad.%Aimed at some problems that when the artillery chain driving powder system moved,wide variations of load,indefinite parameters,chattering,and nonlinear friction existed.An adaptive sliding mode control scheme was proposed to solve these problems.The equivalent moment of inertia and the disturbance torque of the system were adaptively estimated.In this way,the impact of parameter uncertainty was mitigated and the system mathematical model was more accurately.The chattering problem of the system was restrained by using a new double power reaching law.Parameters of the reaching law were selected online by using adaptive methods.The robustness of the reaching and switching processes was enhanced.Experimental verifications of the system under different loads were conducted.The results show that the artillery chain driving powder system has better stability and position accuracy by using the control scheme under three conditions,i.e.,empty-loaded,half-loaded and full-loaded ensuring that the output dynamic error of the motor is less than 2.5 rad and the steady state error is less than 0.8 rad.
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