链式自动化弹仓的自适应模糊滑模控制

摘要

在自动化弹仓位置控制过程中,弹仓内弹丸数量的变化会导致系统参数产生较大变化,同时还存在链传动啮合冲击和非线性摩擦等扰动因素,为了解决上述问题,提出一种自适应模糊滑模控制策略.采用自适应算法估计系统参数,减小了系统参数变化的影响;采用模糊逻辑代替传统滑模控制的不连续切换控制项,有效地削弱了抖振.仿真结果表明:该控制策略对系统参数变化和外部扰动不敏感,同时具有较高的控制精度.%The system parameters may have great changes in the process of the automatic shell magazine position control according to the number change of shells in the shell magazine. Some disturbance factors also exist at the same time, such as meshing impact, nonlinear friction, etc. An adaptive fuzzy sliding mode control scheme was proposed for solving above problems. The adaptive algorithm was adopted to estimate the system parameters and the influence of the system parameters changes was reduced. And then used a fuzzy logic system in the traditional sliding mode control instead of discontinuous switching control term, and the chattering in the control effort was reduced. The simulation results show that the control scheme is insensitive to parameters variations and external disturbance, and has high control precision.