行进间无人车载炮稳定系统自抗扰自适应复合控制

doi:10.12382/bgxb.2024.0888

摘要/Abstract

摘要：

针对行进间无人车载炮稳定系统存在复杂非线性和随机扰动影响的问题,提出一种自抗扰自适应复合控制策略。建立计及执行器动态和模型不确定性的无人车载炮稳定系统机电耦合动力学方程;基于反步思想将自适应控制和扩张状态观测器巧妙融合,构造参数自适应律在线更新系统的未知参数,利用双通道扩张状态观测器实时估计系统的匹配和不匹配干扰并进行前馈补偿;由于车载炮稳定系统的参数不确定性主要由自适应技术解决,因此进一步降低了扩张状态观测器的学习负担,提高了行进间无人车载炮稳定系统的跟踪性能,避免了高增益反馈的影响;基于Lyapunov函数的稳定性分析表明,当系统只存在常值干扰时可以实现车载炮的渐近稳定,即使存在时变不确定性也能确保车载炮稳定系统获得规定的瞬态性能和跟踪精度;通过对比联合仿真和模拟试验证明了自抗扰自适应复合控制策略的有效性和可行性。

关键词: 无人车载炮, 稳定系统, 扩张状态观测器, 自适应控制, 扰动补偿

Abstract:

Aiming at the problem that the stabilization system of unmanned vehicle-mounted guns is affected by the complex nonlinearity and random disturbances during moving,a composite control strategy combining active disturbance rejection adaptive control is proposed.The electromechanical coupling dynamic equations of the unmanned vehicle-mounted gun stabilization system, which take into accountconsidering the actuator dynamics and model uncertainties,are established.Based on the backstepping approach,the adaptive control is ingeniously integrated with the extended state observer (ESO),constructing the parameter adaptation laws to update the unknown parameters of the system online.A dual-channel ESO is used to estimate the matched and unmatched disturbances in real time and provide feedforward compensation.Since the parameter uncertainties of the stabilization system are mainly addressed by adaptive technology,the learning burden of ESO is further reduced,improving the tracking performance of the stabilization system during moving and avoiding the impact of high-gain feedback.The stability analysis based on the Lyapunov function indicates that the asymptotic control of the vehicle-mounted gun can be achieved when only constant disturbances are present,and even in the presence of time-varying uncertainties,the prescribed transient performance and tracking accuracy can still be ensured.Comparative co-simulations and simulation tests demonstrate the effectiveness and feasibility of the active disturbance rejection adaptive composite control strategy.

Key words: unmanned vehicle-mounted gun, stabilization system, extended state observer, adaptive control, disturbance compensation

中图分类号:

TJ810

袁树森, 胡哲, 易文俊, 邓文翔, 姚建勇, 杨国来, 管军, 王一珉. 行进间无人车载炮稳定系统自抗扰自适应复合控制[J]. 兵工学报, 2025, 46(9): 240888-.

YUAN Shusen, HU Zhe, YI Wenjun, DENG Wenxiang, YAO Jianyong, YANG Guolai, GUAN Jun, WANG Yimin. Active Disturbance Adaptive Composite Control of Stabilization System for Unmanned Vehicle-mounted Gun during Moving[J]. Acta Armamentarii, 2025, 46(9): 240888-.

图/表 12

图1 无人车载炮稳定系统

Fig.1 Unmanned vehicle-mounted gun stabilization system

图2 无人车载炮稳定系统的电动缸安装位置示意图

Fig.2 Schematic diagram of installation position of electric cylinder for stabilization system

图3 联合仿真原理

Fig.3 Principle of co-simulation

图4 联合仿真中C1控制器的伺服跟踪过程

Fig.4 Servo tracking process of C1 controller in co-simulation

图5 联合仿真中4种控制器的对比跟踪误差

Fig.5 Comparative tracking errors of four controllers in co-simulation

表1 联合仿真中4种对比控制器的性能指标

Table 1 Performance metrics of four controllers in co-simulation mrad

控制器	M_e	A_e	S_e
C1	0.6277	0.1181	0.1668
C2	0.7323	0.1664	0.2102
C3	0.8106	0.2019	0.2488
C4	2.1607	0.4307	0.5890

图6 联合仿真中C1控制器作用下的参数估计

Fig.6 Parameter estimation under the action of C1 controller in co-simulation

图7 联合仿真中C1控制器作用下的干扰估计

Fig.7 Disturbance estimation under the action of C1 controller in co-simulation

图8 联合仿真中C1控制器的控制输入

Fig.8 Control input of C1 controller in co-simulation

图9 车载炮稳定系统模拟试验平台

Fig.9 Simulation test platform of vehicle-mounted gun stabilization system

图10 模拟试验中4种控制器对比跟踪误差

Fig.10 Comparative tracking errors of four controllers in simulation experiment

表2 模拟试验中4种对比控制器的性能指标

Table 2 Performance metrics of four controllers in simulated experiment mrad

控制器	M_e	A_e	S_e
C1	5.2275	2.7072	0.5727
C2	6.4201	3.4442	0.6213
C3	7.8646	4.6325	0.7564
C4	10.4680	5.5639	0.7932

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