第19卷
第10期
2011年10月
文章编号
1004-924X(2011)10-2409-10
光学精密工程
Optics and Precision Engineering
No. 10
Vol. 19
Oet,2011
基于扩张状态观测器的炮控系统串联滑模控制
马晓军*，袁东，李匡成，魏曙光
（装甲兵工程学院控制工程系，北京100072）
摘要：针对坦克炮控系统中存在齿圈间隙、摩擦力矩和参数漂移等多种非线性因索造成系统驱动延时、换向振荡和低速“爬行"等问题，设计了一种基于扩张状态观测器(ESO)的炮控系统审联滑模控制器。首先，利用系统内部可测信息，将炮控系统分解为n个审联的一阶子系统；然后，引人ESO估计各子系统的不确定性。在此基础上，基于backstepping递推思想，分别针对各子系统设计滑模控制器，并逐步向后递推，构成炮控系统串联滑模控制器。试验表明，该方法能够很好地抑制各种非线性因索的影响，有效地改善系统控制性能。由于各子系统均为一阶系统，ESO和滑模控制器的设计大为筒化，易于工程实现。此外，该方法还有效地抑制了传统滑模控制的抖振间题，
关
调：地控系统；事联滑模控制；扩张状态观测器；不确定性键
中图分类号：TJ81.376
文献标识码：A
doi:10.3788/OPE. 20111910.2409
Seriesslidingmodecontrolforguncontrolsystem
basedonextendedstateobserver
MAXiao-jun',YUAN Dong,LI Kuang-cheng，,WEI Shu-guang
(Departmentof ControlEngineering,Academyof Armored Force Engineering, Beijing 100072, China)
*Correspondingauthor,E-mail;ma.riaojun_aafe@163.com
Abstract: For problems of system driving delay, commutation surge and dithering at a low velocity caused by nonlinearity such as backlash, friction and parameter varieties in a system, a series sliding mode controller for a tank gun control system based on Extended State Observer ( ESO) was de-signed. Firstly, depending on the measurable signals,a gun control system was decomposed to r first-order subsystems in series, and ESO was introduced to estimate the uncertainty of each subsystem. Then, by adopting a ‘backstepping method', the sliding mode controllers were designed for each sub-system and made up these sliding mode controllers in series for the gun control system. The examina-tion result shows that the method can restrain the influences caused by the diversified nonlinearity and can improve the system performance effectively. The design of ESO and sliding mode controller is sim-plified and prove to be realized in engineering because of the design of each first-order subsystem. Fur-
thermore,this method overcomes the dithering problem excisted in traditional systems effectively. Key words: gun control system; series sliding mode control; Extended State Observer(ESO); uncertainty
收稿日期：2010-11-03；修订日期：2011-02-16.
基金项目：国防“十—五”预研资助项目（No.40405020202）