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Adaptive Integral Robust Control for the Bidirectional Stability System of All-electric Tanks
- Acta Armamentarii Vol. 44, Issue 1, Pages: 140-155(2023)
- 作者机构：
南京理工大学 机械工程学院, 江苏 南京 210094
- 作者简介：
- 基金信息：
DOI：10.12382/bgxb.2022.0107
CLC：Received：23 February 2022，
Published：10 February 2023
- 稿件说明：
移动端阅览
Shusen YUAN, Wenxiang DENG, Jianyong YAO, et al. Adaptive Integral Robust Control for the Bidirectional Stability System of All-electric Tanks[J]. Acta Armamentarii, 2023, 44(1): 140-155.
Shusen YUAN, Wenxiang DENG, Jianyong YAO, et al. Adaptive Integral Robust Control for the Bidirectional Stability System of All-electric Tanks[J]. Acta Armamentarii, 2023, 44(1): 140-155. DOI： 10.12382/bgxb.2022.0107.
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。
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.
关键词
Keywords
references
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