链式回转弹仓的自适应鲁棒控制

doi:10.3969/j.issn.1000-1093.2014.11.026

兵工学报 ›› 2014, Vol. 35 ›› Issue (11): 1922-1927.doi: 10.3969/j.issn.1000-1093.2014.11.026

链式回转弹仓的自适应鲁棒控制

邹权¹，钱林方¹，徐亚栋¹，蒋清山¹，刘艳辉²

(1.南京理工大学机械工程学院, 江苏南京 210094；

收稿日期:2014-03-03 修回日期:2014-03-03 上线日期:2015-01-05
作者简介:邹权(1987—)，男，博士研究生

Adaptive Robust Control of Rotational Chain Shell Magazine

ZOU Quan¹, QIAN Lin-fang¹, XU Ya-dong¹, JIANG Qing-shan¹, LIU Yan-hui²

(1.School of Mechanical Engineering,Nanjing University of Science and Technology, Nanjing 210094, Jiangsu, China;2.Qiqihar North Machinery Corporation Limited, Qiqihar 161000, Heilongjiang, China)

Received:2014-03-03 Revised:2014-03-03 Online:2015-01-05

摘要/Abstract

摘要： 针对链式回转弹仓的精确定位控制问题，提出了一种带有积分型滑模面的自适应鲁棒控制算法。在常规自适应鲁棒控制的基础上引入积分型滑模面，减小了稳态位置误差；采用非线性鲁棒反馈增益代替常规的定常鲁棒反馈增益，改善了系统的动态性能；理论上证明了文中提出的控制算法具有更好的动态性能以及稳态性能。空载、半载和满载3种情况下的仿真结果表明，文中提出的控制算法对系统参数变化和外部扰动不敏感，与常规自适应鲁棒控制相比，具有更高的控制精度以及更好的控制性能。

关键词: 兵器科学与技术, 弹药自动装填系统, 链式回转弹仓, 自适应鲁棒控制, 非线性摩擦补偿, 积分型滑模面

Abstract: An adaptive robust control scheme with integral sliding surface is proposed for the precision position control of the rotational chain shell magazine. The integral operation sliding surface is embedded into the traditional adaptive robust control, and the steady state position tracking error is reduced. Constant robust feedback gain is replaced by nonlinear robust feedback gain, and the transient performance is improved. Mathematical analysis shows that the proposed control scheme can achieve better transient performance and has smaller steady state position tracking error. Simulation results in three conditions (empty-loading, half-loading and full-loading) show that the proposed control scheme is insensitive to parameter variations and external disturbance. Compared with the traditional adaptive robust control scheme, the proposed control scheme has higher position precision and better control performance.

Key words: ordnance science and technology, automatic ammunition loading system, rotational chain shell magazine, adaptive robust control, nonlinear friction compensation, integral sliding surface

中图分类号:

TP273

邹权，钱林方，徐亚栋，蒋清山，刘艳辉. 链式回转弹仓的自适应鲁棒控制[J]. 兵工学报, 2014, 35(11): 1922-1927.

ZOU Quan, QIAN Lin-fang, XU Ya-dong, JIANG Qing-shan, LIU Yan-hui. Adaptive Robust Control of Rotational Chain Shell Magazine[J]. Acta Armamentarii, 2014, 35(11): 1922-1927.

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链式回转弹仓的自适应鲁棒控制

Adaptive Robust Control of Rotational Chain Shell Magazine

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