基于改进拟连续算法的回转弹仓位置控制

doi:10.12382/bgxb.2023.0064

摘要/Abstract

摘要：

为提高大口径火炮自动装填过程中回转弹仓工作的精确性和鲁棒性,在分析现有拟连续算法相关研究内容的基础上,设计一种全新的改进拟连续控制器对回转弹仓进行位置控制。通过与滑模扰动观测器相结合,新控制器增益不依赖于系统扰动的不确定性边界,且不需引入额外的控制器参数,降低了控制器的设计和调试难度。通过Lyapunov方程验证控制器本身及闭环系统的稳定性。仿真和试验结果表明:新设计的控制器相对于已有拟连续算法具有优越性,在受到不确定时变负载和不确定参数扰动的情况下,新设计的改进控制器在应用于回转弹仓时,在趋近段可以获得更快的收敛速度,减小到位超调量,并在滑动段有效减弱抖振。

关键词: 回转弹仓, 不确定扰动, 改进拟连续控制器, 滑模扰动观测器

Abstract:

Based on the existing researches on quasi-continuous algorithm, a novel improved quasi-continuous controller is designed to improve the precision and robustness of rotational shell magazine position control in the automatic loading process of a large caliber artillery.By combining a sliding mode disturbance observer, the novel controller is independent of the unknown system uncertainty boundary, and no new parameters are introduced, which will lower the difficulties of controller designing and adjusting.The stabilities of controller and close-loop scheme are verified by Lyapunov functions. The simulated and experimental results have demonstrated the superiority of the improved controller over the existing quasi-continuous algorithm.In the presence of unknown time-varying disturbance and uncertain parameters, the improved controller could achieve a higher convergence rate in reaching phase, reduce the overshoot and restrain chattering in sliding phase while performed on the magazine.

Key words: rotational shell magazine, uncertain disturbance, improved quasi-continuous controller, sliding mode disturbance observer

中图分类号:

TJ303⁺.3

陈冬, 钱林方, 陈志群, 陈龙淼, 邹权, 陈军华. 基于改进拟连续算法的回转弹仓位置控制[J]. 兵工学报, 2024, 45(5): 1436-1448.

CHEN Dong, QIAN Linfang, CHEN Zhiqun, CHEN Longmiao, ZOU Quan, CHEN Junhua. An Improved Quasi-continuous Algorithm for Rotational Shell Magazine Position Control[J]. Acta Armamentarii, 2024, 45(5): 1436-1448.

图/表 18

图1 回转弹仓结构

Fig.1 Structure of rotational shell magazine

图2 弹仓控制系统结构图

Fig.2 The overall structure diagram of magazine control system

图3 控制器流程图

Fig.3 Flowchart of controller

表1 弹仓及电机参数

Table 1 Parameters of magazine and PMSM

参数	数值
电机极对数n_p	4
电感L_s/H	0.0085
定子电阻R_s/Ω	2.872
磁链ϕ_f/Wb	0.42
名义转动惯量J_e0/(kg·m²)	0.003
名义阻尼系数B_e0/(N·m·s)	0.009

表2 控制器参数

Table 2 Parameters of controller

参数	数值
微分器Lipschitz常数L	5000
观测器滑模面积分常数c₁	5
控制器滑模面积分常数c₂	10
SMDO趋近律常数k	10
SMDO趋近律常数ε	500
SMDO自适应律参数γ₁	1.1
控制器常数β	0.001

图4 控制器A作用下的位移跟踪仿真结果(上为0~5s,下为14~19s)

Fig.4 Simulated results of position tracking performance under QCC(upper: 0~5s, and belower: 14~19s)

图5 控制器B作用下不同α值的位移跟踪仿真结果

Fig.5 Simulated results of position tracking performance under the action of controller B with different α

图6 控制器C与控制器B作用下的位移跟踪对比仿真结果

Fig.6 Comparative simulated results of position tracking performance under the action of controller C and controller B

表3 仿真结果

Table 3 Simulated results

参数	控制器C	控制器B
参数	控制器C	α=5	α=1	α=0.1
收敛时间/s	1.13	1.95	1.13	1.13
超调量/rad	0.45	3.35	2.53	0.74
平均抖振幅值/rad	0.10	2.5	2.5	0.78
平均抖振频率/Hz	8	20	26	66

图7 样机及控制系统结构

Fig.7 Structure of prototype and control system

图8 控制器A位移响应

Fig.8 Position tracking performance of controller A

图9 控制器A输出电流

Fig.9 Output current of controller A

图10 不同α值时控制器B的位移响应

Fig.10 Position tracking performance of controller B with different α

图11 不同α值时控制器B的输出电流

Fig.11 Output current of controller B with different α

图12 控制器C与控制器B的位移跟踪对比试验结果

Fig.12 Comparative experimental results of position tracking performance under the action of controller C and controller B

图13 控制器C与控制器B的输出电流

Fig.13 Output current of controller C and controller B

图14 控制器C作用下的仿真结果和试验结果对比

Fig.14 Simulated and experimental results of controller C

表4 试验结果

Table 4 Experimental results

参数	控制器C	控制器B
参数	控制器C	α=5	α=1	α=0.1
收敛时间/s	1.26	2.86	2.19	1.24
稳态误差/rad	0.62	2.39	1.17	-
超调量/rad	3.01	8.16	0.67	14.72
平均抖振幅值/rad				2.10
平均抖振频率/Hz				8

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