全电坦克双向稳定系统自适应积分鲁棒控制

doi:10.12382/bgxb.2022.0107

摘要/Abstract

摘要：

针对全电坦克双向稳定系统具有复杂的强非线性、强耦合性、强参数时变性等特点,提出了一种基于误差符号积分鲁棒反馈的坦克双向稳定系统自适应积分鲁棒(AIR)控制设计方法。考虑全电坦克双向稳定系统为一个耦合性的、非线性的、不确定性的动力学系统,建立面向真实的全电坦克双向稳定系统机电一体化解析动力学模型;基于Backstepping法融合自适应的思想,引入辅助误差信号设计了AIR控制器,有效衰减系统的未建模扰动;所设计的AIR控制器不需要预先知道未知扰动的上界,而是通过自适应的方法不断更新以获取其上界,降低了其工程应用的保守性;基于Lyapunov理论分析,在连续控制输入下可以保证坦克双向稳定系统获得渐进跟踪性能。通过Recurdyn-Simulink的仿真对比试验,验证所提方法的有效性。

关键词: 全电坦克, 双向稳定系统, 积分鲁棒控制, 自适应控制

Abstract:

The bidirectional stability system of all-electric tanks is highly nonlinear, high in coupling, and have time-varying parameters. An adaptive integral robust (AIR) control design is thus proposed for such a system based on robust integral of the sign of the error feedback. First, considering that the bidirectional stability system of all-electric tanks is a high-coupling, nonlinear, and uncertain dynamic system, a realistic mechatronic analytical dynamical model is established. Second, an AIR controller is designed by combining backstepping control and adaptive control and introducing auxiliary error signals, to effectively attenuate unmodeled disturbances of the system. In addition, the AIR controller designed does not require the upper bound of the unknown disturbance in advance, but it keeps updating the disturbance to obtain its upper bound by an adaptive method, thus reducing the conservatism of its engineering application. Based on Lyapunov theory, the tank bidirectional stability system can achieve asymptotic tracking performance with continuous control input. Finally, the effectiveness of the proposed method is verified by simulation using Recurdyn-Simulink.

Key words: all-electric tank, bidirectional stability system, integral robust control, adaptive control

中图分类号:

TJ810.3⁺76

袁树森, 邓文翔, 姚建勇, 杨国来. 全电坦克双向稳定系统自适应积分鲁棒控制[J]. 兵工学报, 2023, 44(1): 140-155.

YUAN Shusen, DENG Wenxiang, YAO Jianyong, YANG Guolai. Adaptive Integral Robust Control for the Bidirectional Stability System of All-electric Tanks[J]. Acta Armamentarii, 2023, 44(1): 140-155.

图/表 27

图1 坦克双向稳定系统两轴耦合系统结构

Fig.1 Biaxial coupling system structure of the tank bidirectional stability system

图2 方位子系统驱动端结构

Fig.2 Drive-end structure of the azimuth subsystem

图3 高低子系统驱动端结构

Fig.3 Drive-end structure of the high-low subsystem

图4 电动缸安装结构原理图

Fig.4 Electric cylinder installation structure

图5 电动缸传动原理图

Fig.5 Electric cylinder driving mechanism

图6 全电坦克双向稳定系统AIR控制策略结构图

Fig.6 Schematic of the AIR control strategy for all-electric tank bidirectional stabilization system

图7 行进间全电坦克多体动力学模型

Fig.7 Allelectric tank multi-body dynamics model

图8 D级三维路面模型

Fig.8 D-level three-dimensional road surface model

图9 全电坦克双向稳定系统联合仿真原理

Fig.9 Co-simulation of the bidirectional stability system for all-electric tanks

表1 工况1方位子系统后5s性能指标

Table 1 Performance indicators of the azimuth subsystem after 5 seconds in Case 1rad

控制器	M_e	μ	σ
AIR	0.000986	0.000248	0.000209
RISE	0.001551	0.000498	0.000355
PID	0.005357	0.002511	0.001063
AIR-ua	0.002110	0.000672	0.000472

图10 工况1坦克双向稳定系统位置跟踪

Fig.10 Position tracking of tank bidirectional stabilization system in Case 1

图11 工况1方位子系统对比跟踪误差

Fig.11 Comparison of tracking errors of the azimuth subsystem in Case 1

图12 工况1高低子系统对比跟踪误差

Fig.12 Comparison of tracking errors of the high-low subsystem in Case 1

表2 工况1高低子系统后5s性能指标

Table 2 Performance indicators of the high-low subsystem after 5 seconds in Case 1rad

控制器	M_e	μ	σ
AIR	0.000163	0.000037	0.000032
RISE	0.000409	0.000056	0.000062
PID	0.002021	0.000484	0.000396
AIR-ua	0.000423	0.000077	0.000063

图13 工况1鲁棒增益β估计

Fig.13 Estimated robust gain β in Case 1

图14 工况1坦克双向稳定系统控制输入

Fig.14 Control inputs of the tank bidirectional stabilization system in Case 1

图15 工况1坦克双向稳定系统驱动力矩

Fig.15 Driving torques of tank bidirectional stabilization system in Case 1

图16 工况2坦克双向稳定系统位置跟踪

Fig.16 Position tracking of the tank bidirectional stabilization system in Case 2

图17 工况2方位子系统对比跟踪误差

Fig.17 Comparison of tracking errors of the azimuth subsystem in Case 2

图18 工况2高低子系统对比跟踪误差

Fig.18 Comparison of tracking errors of the high-low subsystem in Case 2

表3 工况2方位子系统后5s性能指标

Table 3 Performance indicators of the azimuth subsystem after 5 seconds in Case 2rad

控制器	M_e	μ	σ
AIR	0.001431	0.000297	0.000231
RISE	0.002279	0.000718	0.000509
PID	0.008561	0.002539	0.001998
AIR-ua	0.003056	0.000962	0.000675

表4 工况2高低子系统后5s性能指标

Table 4 Performance indicators of the high-low subsystem after 5 seconds in Case 2rad

控制器	M_e	μ	σ
AIR	0.003469	0.000851	0.001007
RISE	0.003639	0.000882	0.001025
PID	0.004031	0.001002	0.001091
AIR-ua	0.0038411	0.000939	0.001088

图19 工况3坦克双向稳定系统位置跟踪

Fig.19 Position tracking of the tank bidirectional stabilization system in Case 3

图20 工况3方位子系统对比跟踪误差

Fig.20 Comparison of tracking errors of the azimuth subsystem in Case 3

图21 工况3高低子系统对比跟踪误差

Fig.21 Comparison of tracking errors of the high-low subsystem in Case 3

表5 工况3方位子系统后5s性能指标

Table 5 Performance indicators of the azimuth subsystem after 5 seconds in Case 3rad

控制器	M_e	μ	σ
AIR	0.001004	0.000264	0.000213
RISE	0.001638	0.000542	0.000379
PID	0.005053	0.002706	0.001059
AIR-ua	0.002235	0.000733	0.000506

表6 高低子系统后5s性能指标

Table 6 Performance indicators of the high-low subsystem after 5 seconds in Case 3rad

控制器	M_e	μ	σ
AIR	0.000644	0.000307	0.000154
RISE	0.000757	0.000329	0.000177
PID	0.001415	0.000403	0.000317
AIR-ua	0.000864	0.000353	0.000205

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