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ZHENG Y , MA D W , YAO J Y , et al . Linear active disturbance rejection control of two-axis coupled position servo system for rocket launcher [J ] . Acta Armamentarii , 2015 , 36 ( 6 ): 987 - 993 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2015.06.004 http://doi.org/10.3969/j.issn.1000-1093.2015.06.004 In order to study the performance of the position servo system of rocket launcher with the azimuth axis and pitch axis coupling, a model of two-axis coupling position servo system is established based on real servo system with velocity closed loop. The second-order approximate models of azimuth axis and pitch axis are proposed through frequency domain analysis. The linear extended state observer and active disturbance rejection controller of the two-axis system are designed to estimate and compensate uncertain dynamics. The simulation results show that the proposed observer estimates the total system disturbances satisfactorily, and the controller compensates the strong disturbance of combustion gas flow impact moment and the coupling effect. The proposed controller could restrain the vibration of the coupling system to maintain launching accuracy in condition of servo tracking and launching, of which control performance is superior to that of PID controller.

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