火炮模块药输送伺服系统自适应模糊滑模控制

doi:10.3969/j.issn.1000-1093.2017.10.003

兵工学报 ›› 2017, Vol. 38 ›› Issue (10): 1891-1898.doi: 10.3969/j.issn.1000-1093.2017.10.003

火炮模块药输送伺服系统自适应模糊滑模控制

岳才成¹，钱林方¹，孔建寿²，李颖³

(1.南京理工大学机械工程学院, 江苏南京 210094; 2.南京理工大学自动化学院, 江苏南京 210094;3.西北机电工程研究所，陕西咸阳 712000)

收稿日期:2017-03-20 修回日期:2017-03-20 上线日期:2017-11-22
通讯作者: 钱林方(1961—)，男，教授，博士生导师 E-mail:lfqian@vip.163.com
作者简介:岳才成(1990—)，男，博士研究生。 E-mail: yuecaicheng226@126.com
基金资助:
国家自然科学基金项目（11472137）

Adaptive Fuzzy Sliding Mode Control for the Artillery Modular Charge Transport Servo System

YUE Cai-cheng¹, QIAN Lin-fang¹, KONG Jian-shou², LI Ying³

(1.School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, Jiangsu, China;2.School of Automation, Nanjing University of Science and Technology, Nanjing 210094, Jiangsu, China;3.Northwest Institute of Mechanical Engineering, Xianyang 712000, Shaanxi, China)

Received:2017-03-20 Revised:2017-03-20 Online:2017-11-22

摘要/Abstract

摘要： 针对火炮模块药输送伺服系统传动过程中存在参数时变和抖振等问题，设计了一种带有积分滑模函数的自适应模糊滑模控制器。采用自适应方法对系统时变参数进行估计，减小不确定部分对控制系统的影响。引入新型饱和函数代替传统切换函数，保证整个切换过程连续、平滑过渡；采用模糊自适应算法对切换系数在线调整，提高系统的鲁棒性能，进一步抑制切换过程中的抖振。实验结果表明，火炮模块药输送伺服系统在空载、半载和满载3种情况下均具有良好的位置跟踪性能，满足性能指标要求，提出的自适应模糊滑模控制算法能够克服负载变化对系统控制精度的影响。

关键词: 兵器科学与技术, 火炮模块药输送伺服系统, 抖振, 自适应模糊滑模控制, 位置跟踪

Abstract: An adaptive fuzzy sliding mode controller (AFSMC) with an integral sliding mode function is proposed for the control of the artillery modular charge transport servo system which has time-varying parameters and chattering problem. The time-varying system parameters are estimated by using adaptive method. The influence of model uncertainty on the control system is reduced. Then, the traditional switching function is replaced by an improved saturation function. This ensures that the process of switching is more continuous and smooth. The coefficient of switching is tuned online by the fuzzy adaptive scheme. In this way, the robustness of system is enhanced, and the chattering of system is restrained. Experimental results show the system has a good position tracking performance under empty-load, half-load and full-load, which can meet the performance index. The proposed AFSMC scheme can overcome the influence of variable loads on the control precision of the system. Key

Key words: ordnancescienceandtechnology, artillerymodularchargetransportservosystem, chattering, adaptivefuzzyslidingmodecontroll, positiontracking

中图分类号:

岳才成，钱林方，孔建寿，李颖. 火炮模块药输送伺服系统自适应模糊滑模控制[J]. 兵工学报, 2017, 38(10): 1891-1898.

YUE Cai-cheng, QIAN Lin-fang, KONG Jian-shou, LI Ying. Adaptive Fuzzy Sliding Mode Control for the Artillery Modular Charge Transport Servo System[J]. Acta Armamentarii, 2017, 38(10): 1891-1898.

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火炮模块药输送伺服系统自适应模糊滑模控制

Adaptive Fuzzy Sliding Mode Control for the Artillery Modular Charge Transport Servo System

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