李嘉麒 , 魏曙光 , 廖自力 , 等 . 陆战平台全电化关键技术发展综述 [J ] . 兵工学报 , 2021 , 42 ( 10 ): 2049 - 2059 . DOI: 10.3969/j.issn.1000-1093.2021.10.001 http://doi.org/10.3969/j.issn.1000-1093.2021.10.001 为进一步推进陆战平台全电化技术的发展，介绍了全电化陆战平台的基本特点和主要技术，面向未来陆战战场和新型战争形态阐述全电化技术在提高陆战平台机动性能、持续作战、战斗能力等方面的功能和作用，分析陆军装备轻型化、智能化、无人化的发展趋势。结合我军陆战装备的发展概况，从全电化陆战平台的驱动电机及其控制技术、车载综合电力系统、电磁武器、电磁装甲防护4个方面详细剖析陆战平台全电化的主要内容和关键技术，探究以上关键技术的研究现状，揭示全电化陆战平台持续发展的技术瓶颈，提出陆战平台在电机、电力系统、电磁等方向的发展思路，探索陆战平台全电化技术的运用前景。

LI J Q , WEI S G , LIAO Z L , et al. Review on the key technologies and development of all-electric land warfare platform [J ] . Acta Armamentarii , 2021 , 42 ( 10 ): 2049 - 2059 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2021.10.001 http://doi.org/10.3969/j.issn.1000-1093.2021.10.001 The basic characteristics and key technologies of an all-electric land warfare platform are introduced， and the importance of the all-electric technologies for improving the performance of land warfare platform is elaborated in terms of vehicular mobility，sustainability，and combat capability. The development tendency of light-weight, intelligent and unmanned land warfare platform is further analyzed. The key technologies of all-electric land warfare platform are investigated in terms of drive motor and its control，integrated power system，electromagnetic weapon，and electromagnetic armor. The technical background and current bottlenecks are studied，and the developing direction of land warfare platform，which includes motor，power system，electromagnetism，are put forward. Finally，the potential future applications of all-electric technologies are explored.

关海杰 , 王博洋 , 王旭睿 , 等 . 搭载任务载荷军用地面无人系统发展综述 [J ] . 兵工学报 , 2023 , 44 ( 11 ): 3333 - 3344 . DOI: 10.12382/bgxb.2023.0263 http://doi.org/10.12382/bgxb.2023.0263 随着军用地面无人系统研究的深入,单一的地面无人机动平台或任务载荷很难满足现代战场的需求,只有任务载荷和机动平台协同发展,地面无人系统才能在战场中真正形成战斗力。为进一步推动任务载荷与机动底盘协同技术的发展,综述了搭载任务载荷军用地面无人系统的发展背景、研究现状及技术特点,分别从多层次多维度的环境建模、基于多模态数据的通行度估计、基于多智能体协同建模的协同规划控制优化方法三方面对其关键技术进行阐述,总结了相关的研究框架和重点,并对搭载任务载荷军用地面无人系统未来的发展方向进行了展望。

GUAN H J , WANG B Y , WANG X R , et al. A review on the development of military unmanned ground system with mission payload [J ] . Acta Armamentarii , 2023 , 44 ( 11 ): 3333 - 3344 . (in Chinese) DOI: 10.12382/bgxb.2023.0263 http://doi.org/10.12382/bgxb.2023.0263 With the in-depth research on military unmanned ground systems, it is difficult for a single unmanned ground vehicle (UGV) or mission payload to meet the needs of the modern battlefield. Only with the coordinated development of mission payload and UGVs, the ground unmanned system can truly form combat effectiveness in the battlefield. In order to further promote the development of collaborative technology for the mission payload and UGVs, the development background, research status and technical characteristics of military ground unmanned systems with mission payload are summarized, and then the key technologies of UGV system are elaborated from three aspects: multilevel and multi-dimensional environmental modeling, traversability assessment based on multimodal data, and collaborative planning and control optimization method based on multi-agent collaborative modeling. Relevant research framework and focus of each aspect are summarized, and the future development direction of military ground unmanned systems with mission payload is prospected.

常建龙 , 段心磊 , 武瑞文 , 等 . 无人智能化关键技术及其在火炮系统中的应用 [J ] . 火炮发射与控制学报 , 2021 , 42 ( 3 ): 100 - 105 .

CHANG J L , DUAN X L , WU R W , et al. Unmanned intelligent key technology and its application in artillery system [J ] . Journal of Gun Launch & Control , 2021 , 42 ( 3 ): 100 - 105 . (in Chinese)

袁树森 , 邓文翔 , 姚建勇 , 等 . 全电坦克双向稳定系统自适应积分鲁棒控制 [J ] . 兵工学报 , 2023 , 44 ( 1 ): 140 - 155 . DOI: 10.12382/bgxb.2022.0107 http://doi.org/10.12382/bgxb.2022.0107 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。

YUAN S S , DENG W X , YAO J Y , et al. Adaptive Integral robust control for the bidirectional stability system of all-electric tanks [J ] . Acta Armamentarii , 2023 , 44 ( 1 ): 140 - 155 . (in Chinese) DOI: 10.12382/bgxb.2022.0107 http://doi.org/10.12382/bgxb.2022.0107 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.

LI C , WANG X Y , MA Y Z , et al. The prediction of projectile-target intersection for moving tank based on adaptive robust constraint-following control and interval uncertainty analysis [J ] . Defence Technology , 2024 , 31 : 351 - 363 .

李伟 , 姜俊峰 , 任海波 , 等 . 行进间火炮指向稳定跟踪系统建模与控制 [J ] . 兵工学报 , 2018 , 39 ( 8 ): 1479 - 1490 . DOI: 10.3969/j.issn.1000-1093.2018.08.004 http://doi.org/10.3969/j.issn.1000-1093.2018.08.004 为使行进间火炮指向具备高射角条件下的稳定跟踪能力，提出了一种采用捷联惯性导航系统（SINS）测量火炮身管轴线指向，同时测量火炮身管运动角速率，完成火炮在大地坐标系下的稳定跟踪控制方法。稳定系统采用传统的三环控制，将系统的位置环和速度稳定环的主令和反馈都统一至大地坐标系下，SINS作为系统的位置环反馈，其航向和姿态测量值基于大地坐标系下完成解算。将安装在火炮上的SINS陀螺组测量值转换至大地坐标系下的火炮方位回转角速率和高低俯仰角速率，并乘以各自传动机构的传动比后，作为速率稳定环的反馈，实现速率稳定控制。考虑炮塔、火炮回转中心与重心不重合、载体处于六自由度运动状态等因素，采用Lagrange方法建立火炮、炮塔与载体之间动力学耦合模型，结合SINS测量模型、双电机拖动和电机伺服系统控制模型，对该控制方案进行了仿真验证。验证结果表明，火炮指向稳定跟踪系统实现方位和高低两个通道独立控制，使火炮指向在高角下保持高精度的稳定控制，在一定射角范围内具有良好跟踪性能，能够克服较宽频带载体姿态干扰，明显优于传统高炮位置解算式稳定。

LI W , JIANG J F , REN H B , et al. Modeling and control of pointing-stabilizing-tracking system for marching guns [J ] . Acta Armamentarii , 2018 , 39 ( 8 ): 1479 - 1490 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2018.08.004 http://doi.org/10.3969/j.issn.1000-1093.2018.08.004 A stabilizing and tracking control strategy of using a strapdown inertial navigation system(SINS) to measure the pointing direction and angular rate of gun barrel is proposed to enable the mar-ching guns to track targets and stabilize at a large fire angle, in which the stabilizing and tracking control are accomplished in the geodetic coordinate system. The conventional three-loop control is applied and improved, and the reference and feedback values of position loop and velocity stabilization loop are given in the geodetic coordinate system. As the position feedback, the azimuth and pitch angular rates of SINS are resolved based on the geodetic coordinate system. The measured values of gyros in SINS mounted on the gun are transformed to the azimuth and pitch angular rates in the geodetic coordinate system, and re multiplied by the drive ratios of drive mechanisms as the feedback of velocity stabilization loop. A dynamic coupling model of gun, turret and carrier is established using Lagrange equation in consideration that the rotary center of turret and carrier is misaligned, and the carrier moves in six degrees of freedom. The simulation validation of the proposed control scheme is conducted based on SINS measurement model, two-motor drive model and control model of motor servo system. The result shows that the two-channel independent control, the high-accurate stabilizing control of pointing direction of gun at a large fire angle, the high tracking performance in a certain range of firing angle, and the isolation of wider frequency band disturbance from carrier can be realized. Key

马毓泽 , 杨国来 . 坦克行进间垂向稳定器机电液系统的建模与仿真 [J ] . 弹道学报 , 2019 , 31 ( 1 ): 23 - 28 . DOI: 10.12115/j.issn.1004-499X(2019)01-005 http://doi.org/10.12115/j.issn.1004-499X(2019)01-005 为了准确描述坦克行进间的火炮稳定系统,采用多体动力学软件RecurDyn和液压系统仿真软件AMESim,建立了基于多体动力学与液压系统控制的联合仿真模型。基于多体动力学软件建立了坦克行进间多体动力学模型,利用液压系统仿真软件,对垂向稳定器进行液压控制系统建模,通过接口模块完成了坦克行进间稳定性模型的联合仿真,对比了单侧布置和对称布置垂向稳定器方案。仿真结果表明:该文建立的联合仿真模型能够准确地对坦克稳定系统进行仿真,且满足坦克稳定系统稳定精度的要求; 对称布置方案可以有效提高稳定效果,为提高坦克高机动条件下的稳定性研究提供了一定的参考。

MA Y , YANG G L . Modeling and simulation of mechanical electro-hydraulic system of vertical stabilizer for a moving tank [J ] . Journal of Ballistics , 2019 , 31 ( 1 ): 23 - 28 . (in Chinese)

郭超哲 , 赵永娟 , 冀云彪 , 等 . 基于模糊PID控制方法的坦克行进间炮口振动控制研究 [J ] . 火炮发射与控制学报 , 2024 , 45 ( 4 ): 55 - 61 .

GUO C Z , ZHAO Y J , JI Y B , et al. A study on muzzle vibration control of moving tanks based on fuzzy PID [J ] . Journal of Gun Launch & Control , 2024 , 45 ( 4 ): 55 - 61 . (in Chinese)

李银伢 , 盛安冬 , 王远钢 . 基于粒子群优化的伺服系统比例积分微分控制器设计方法 [J ] . 兵工学报 , 2006 , 27 ( 2 ): 202 - 205 . 给出了 一种基于粒子群优化（PSO)算法的火炮伺服系统比例积分微分（PID)控制器优 化设计方法。定义了 ー个综合考虑火炮调转时间、上升时间、超调量、系统静态误差、等速跟踪误差 和正弦跟踪误差等动静态性能的指标函数，在给定的控制器参数空间进行组合优化搜索，可迅速求 得使性能指标优化函数极小化的ー组PID控制器参数。仿真結果表明该方法有效。

LI Y Y , SHENG A D , WANG Y G . A design method based on particle swarm optimization for PID controller of a servo system [J ] . Acta Armamentarii , 2006 , 27 ( 2 ): 202 - 205 . (in Chinese)

CHEN J H , CHEN L M , MIAO W , et al. Parameters optimization of PID controller for an artillery coordinator based on multi-objective genetic algorithm [C ] // Proceedings of 2020 IEEE International Conference on Mechatronics and Automation . Beijing,China : IEEE , 2020 : 1332 - 1337 .

CHEN Y , YANG G L , SUN Q Z . Dynamic simulation on vibration control of moving tank gun based on adaptive robust control [J ] . Journal of Low Frequency Noise,Vibration and Active Control , 2020 , 39 ( 2 ): 416 - 434 .

SUN Q Q , WANG X Y , YANG G L , et al. Robust pointing control of marching tank gun with matched and mismatched uncertainty [J ] . IEEE Transactions on Cybernetics , 2021 , 52 ( 8 ): 7303 - 7318 .

MA Y Z , YANG G L , SUN Q Q , et al. Adaptive robust control for tank stability:a constraint-following approach [J ] . Proceedings of the Institution of Mechanical Engineers, Part I:Journal of Systems and Control Engineering , 2021 , 235 ( 1 ): 3 - 14 .

LIN D R , WANG X Y , WANG Y M , et al. Adaptive robust servo control for vertical electric stabilization system of tank and experimental validation [J ] . Defence Technology , 2024 , 31 : 326 - 342 .

李伟 , 杨刚 , 陈腾飞 , 等 . 某全闭环操瞄系统的火炮身管指向控制研究 [J ] . 兵工学报 , 2015 , 36 ( 9 ): 1811 - 1818 . DOI: 10.3969/j.issn.1000-1093.2015.09.029 http://doi.org/10.3969/j.issn.1000-1093.2015.09.029 某履带式自行火炮的操瞄系统采用捷联惯导系统（SINS）测量火炮身管指向进行瞄准，使得高低伺服和方向伺服存在控制耦合，瞄准性能易受车体姿态影响。根据车体坐标系下的全闭环操瞄系统控制模型，对被控模型进行等效变换，得到平动坐标系下含非匹配不确定干扰的伺服被控模型，将原有的耦合干扰、建模误差等转换为各伺服分系统的外扰，分别对伺服分系统设计自抗扰控制器。自抗扰控制器可对外扰进行观测，并在非线性状态误差反馈控制器中进行补偿，克服外扰造成的伺服系统超调。在车体初始姿态分别为水平和倾斜6°条件下进行仿真，结果表明：与采用自适应滑模变结构控制相比，采用自抗扰控制策略的伺服瞄准系统实现了平稳、精确瞄准，超调小，有效地抑制了非匹配不确定干扰，且控制器输出平滑。

LI W , YANG G , CHEN T F , et al. Research on gun pointing control of a full closed-loop aiming system [J ] . Acta Armamentarii , 2015 , 36 ( 9 ): 1811 - 1818 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2015.09.029 http://doi.org/10.3969/j.issn.1000-1093.2015.09.029 A strapdown inertial navigation system (SINS) is used to measure the pointing of gun barrel for aiming for a tracked self-propelled gun. However, it causes the control coupling of pitching servo and azimuth servo, and the aiming accuracy can be easily affected by vehicle posture. According to the full closed-loop aiming system model under vehicle coordinates, the servo control model under quasi geodetic coordinates including the disturbance of mismatched uncertainty is obtained. Active disturbance rejection controllers (ADRCs) are designed for each axial servo system, considering the coupling and modeling errors to be external disturbance. ADRC can observe the external disturbance and compensate the nonlinear state error feedback controller to eliminate the overshoot caused by it. Thef servo aiming system is simulated under the conditions of initial attitude of vehicle level and inclination of 6 degree. The results show that, compared with the adaptive sliding mode variable structure control, the servo system using ADRC strategy obtains more steady and more accurate targeting results, and gets smoother controller output, meanwhile suppresses the unmatched uncertain interface effectively.

ZHAO W J , XIA Y Q , SONG H P , et al. Application of active disturbance rejection control in tank gun control system [C ] //Proceedings of the 40th Chinese Control Conference.Shanghai, China:IEEE , 2021 : 2051 - 2056 .

ZHENG H Q , RUI X T , ZHANG J S , et al. Improved modeling and active disturbance rejection control of tank gun control system [J ] . Proceedings of the Institution of Mechanical Engineers, Part I:Journal of Systems and Control Engineering , 2022 , 236 ( 9 ): 1649 - 1666 .

田灵飞 , 钱林方 , 陈龙淼 , 等 . 基于未知输入观测器的车载炮电液位置伺服系统故障检测 [J ] . 兵工学报 , 2018 , 39 ( 11 ): 2100 - 2108 . DOI: 10.3969/j.issn.1000-1093.2018.11.003 http://doi.org/10.3969/j.issn.1000-1093.2018.11.003 针对车载炮电液位置伺服系统在运行时存在大惯量、负载非线性、参数不确定性和干扰等特点，提出一种基于非线性未知输入观测器的故障检测方案。在对系统建模后进行观测器设计，借助李雅普诺夫稳定性理论证明观测器稳定性并给出了存在条件，观测器产生用于故障检测的残差信号。在故障检测台上在线检测观测器的观测能力以及对故障的检测能力，设计了基于统计的动态阈值故障决策机制，消除了固定阈值在过渡阶段系统出现的误报警现象。实验结果表明：所提出的故障检测方案有效，可用于电液位置伺服系统在线故障的检测。

TIAN L F , QIAN L F , CHEN L M , et al. Fault detection for an electro-hydraulic position servo system of vehicle-mounted howitzer based on unknown input observer [J ] . Acta Armamentarii , 2018 , 39 ( 11 ): 2100 - 2108 . (in Chinese)

YAO J Y , DENG W X . Active disturbance rejection adaptive control of hydraulic servo systems [J ] . IEEE Transactions on Industrial Electronics , 2017 , 64 ( 10 ): 8023 - 8032 .

朱威霖 , 姚建勇 , 刘家辉 , 等 . 泵控多连杆式起竖系统自抗扰力同步控制 [J ] . 兵工学报 , 2024 , 45 ( 6 ): 1906 - 1920 . DOI: 10.12382/bgxb.2023.0318 http://doi.org/10.12382/bgxb.2023.0318 针对泵控多连杆式起竖系统存在的非线性、模型不确定性和双缸不同步引起的力纷争问题,提出一种双缸起竖系统自抗扰力同步控制设计方法。考虑多连杆起竖机构运动学特性和闭式泵控液压系统的压力流量动态,建立多连杆式起竖系统动力学模型,通过扩张状态观测器估计系统干扰和模型不确定性,以在控制器设计过程中进行补偿,同时融合复合力同步控制方法,增强系统克服负载偏载、外干扰等引起的力纷争。基于Lyapunov理论分析证明了多连杆式双缸起竖系统的渐近跟踪和力同步性能。通过中速和快速恒功率起竖对比试验,验证所提自抗扰力同步控制策略的有效性,获得了良好的起竖跟踪和力同步控制性能。

ZHU W L , YAO J Y , LIU J H , et al. Active disturbance rejection force synchronization control for pump-controlled multi-link erection system [J ] . Acta Armamentarii , 2024 , 45 ( 6 ): 1906 - 1920 . (in Chinese) DOI: 10.12382/bgxb.2023.0318 http://doi.org/10.12382/bgxb.2023.0318 The pump-controlled multi-link erection system has the issues of nonlinearity, model uncertainty and force fighting arising from asynchronous motion., An active disturbance rejection force synchronization control strategy is proposed for such a dual-cylinder erection system. Considering the kinematic characteristics of the multi-link erection mechanism and the pressure-flow dynamics of the closed pump-controlled hydraulic system, a dynamical model of multi-link erection system is established. The system disturbances and model uncertainties are estimated by the extended state observer to compensate for them in the controller design process, while a composite force synchronization control method is integrated to enhance the system to overcome the force fighting caused by unbalance load and external disturbances. Based on Lyapunov theory, the multi-link dual-cylinder erection system can achieve asymptotic tracking and force synchronization performance. Finally, the effectiveness of the proposed active disturbance rejection force synchronization control strategy is verified by the comparative experiments of medium-speed and rapid-speed constant-power erections, and the excellent erection tracking and force synchronization control performance is obtained.

高全喜 , 可伟 , 乔海岩 . 基于线性自抗扰的水下运载器控制 [J ] . 兵工学报 , 2023 , 44 ( 3 ): 783 - 791 . DOI: 10.12382/bgxb.2021.0769 http://doi.org/10.12382/bgxb.2021.0769 针对水下运载器强非线性、强耦合、外界干扰、自身参数不确定的影响，基于线性自抗扰控制提出一种姿态解耦控制方法。将水下运载器各控制通道的相互耦合以及内外部的干扰作为总和扰动，通过扩张状态观测器对其进行估计，并引入到反馈控制器中进行补偿，使原非线性系统转化成线性系统，实现解耦控制。引入虚拟控制量，对舵引起的耦合进行解耦。基于此控制系统和水下运载器非线性动力学模型，给出稳定性分析。仿真结果表明，基于线性自抗扰的控制器具有响应快速、超调与稳态误差小、鲁棒性强的特点，较PID控制动态性能与抗干扰能力有较大提升。

GAO Q X , KE W , QIAN H Y . Underwater vehicle control based on linear active disturbance rejection [J ] . Acta Armamentarii , 2023 , 44 ( 3 ): 783 - 791 . (in Chinese) DOI: 10.12382/bgxb.2021.0769 http://doi.org/10.12382/bgxb.2021.0769 To deal with the influence of strong nonlinearity, strong coupling, external disturbance and uncertain parameters of underwater vehicle, an attitude decoupling control method based on linear active disturbance rejection control is proposed. The mutual coupling of each control channel of the underwater vehicle and the internal and external disturbances are regarded as the total disturbance, which is estimated by the extended state observer and introduced into the feedback controller for compensation. The original nonlinear system is transformed into a linear system to realize decoupling control. The virtual control quantity is introduced to decouple the coupling caused by the rudder. Based on the control system and the nonlinear dynamic model of the underwater vehicle, the stability analysis is given. The simulation results show that the controller based on linear active disturbance rejection has the characteristics of fast response, small overshoot and steady-state error, and strong robustness. Compared with PID control, the dynamic performance and anti-disturbance ability are greatly improved.

邱晓波 , 窦丽华 , 韩京清 , 等 . 自抗扰控制在坦克机动目标状态估计中的应用 [J ] . 兵工学报 , 2009 , 30 ( 7 ): 989 - 993 . 在以坦克火控系统为代表的一类状态不确定系统应用中，作为系统输入的目标运动特性是未知的，并且对目标的观测存在较大噪声。如何基于控制过程辨识出输入信号特性，是状态估计理论在实际应用中的一种特殊情况。利用自抗扰控制( ADRC)能够实时估计和补偿系统扰动的能力，将目标运动视为外界扰动，从而辨识出目标运动速度，并将ADRC的滤波特性用于目标运动的状态估计。实验表明，与传感器测量、Kalman滤波方法相比，无需额外的速度传感器件，运动状态估计更为精确、快速。

QIU X B , DOU L H , HAN J Q , et al. The application of active disturbance rejection controller to estimating maneuvering target states for tank [J ] . Acta armamentarii , 2009 , 30 ( 7 ): 989 - 993 . (in Chinese)

DENG W X , YAO J Y . Extended-state-observer-based adaptive control of electrohydraulic servomechanisms without velocity measurement [J ] . IEEE/ASME Transactions on Mechatronics , 2019 , 25 ( 3 ): 1151 - 1161 .

YUAN S S , DENG W X , YAO J Y , et al. Active disturbance rejection adaptive precision pointing control for bidirectional stability system of moving all-electric tank [J ] . ISA Transactions , 2023 , 143 : 611 - 621 .

吕明明 , 谢华伟 , 钟伟 , 等 . 船舶舵机电静液作动器的分数阶线性自抗扰控制 [J ] . 兵工学报 , 2024 , 45 ( 5 ): 1514 - 1522 . DOI: 10.12382/bgxb.2022.0922 http://doi.org/10.12382/bgxb.2022.0922 为改善船舶舵机电静液作动器(Electro Hydrostatic Actuator,EHA)的抗扰性能,提出一种基于线性自抗扰控制和分数阶PD控制的融合控制方法。在建立驱动电机和液压系统数学模型的基础上,利用线性扩张状态观测器(Linear Extended State Observer,LESO)估计EHA在不同工况下所受的内外总扰动,并证明LESO的有界稳定性;进一步采用分数阶PD控制作为控制律对所估计的总扰动予以主动抑制,控制参数由剪切频率和相位裕度等频率响应指标决定。利用AMESim和Simulink联合建立EHA仿真模型,通过分析可知,所提出控制方法在船舶航速分别为6kn和8kn时位移控制精度均约为1mm。利用自研EHA搭建船舶舵机半实物试验装置,进行来回摆舵和突然换向试验,结果表明在负载扰动下和有突变换向情况时,所提出控制方法对操舵指令的跟踪均具有较好的快速性和稳定性。

LÜ M M , XIE H W , ZHONG W , et al. Fractional order linear active disturbance rejection control for electro-hydrostatic actuator of ship rudder [J ] . Acta Armamentarii , 2024 , 45 ( 5 ): 1514 - 1522 . (in Chinese) DOI: 10.12382/bgxb.2022.0922 http://doi.org/10.12382/bgxb.2022.0922 In order to improve the disturbance rejection performance of electro-hydrostatic actuator (EHA) of ship rudder, a fusion control method based on linear active disturbance rejection control (LADRC) and fractional order proportional derivative (FOPD) control is proposed. The mathematical models of the drive motor and hydraulic system are established, respectively. On this basis, a linear extended state observer (LESO) is employed to estimate the total disturbances of EHA, including internal and external disturbances, under different operating conditions. The bounded stability of LESO is also proved. Furthermore, the FOPD control is used as the control law to actively suppress the estimated total disturbance, and the control parameters are determined by frequency response indicators such as shear frequency and phase margin. The joint simulation analysis of EHA model based on AMESim and Simulink shows that the displacement control accuracy of the proposed control method based on LADRC and FOPD is about 1mm when the ship speed is 6kn or 8kn. The self-developed EHA is used to build a semi-physical testing device, on which the reverse rudder and sudden reversal tests are carried out. The results show that the proposed control method has high speed and stability in tracking steering commands under load disturbances and sudden reversal situations.