基于扩张状态观测器滤波的坦克炮控系统模型参考自适应控制

Method of Model Reference Adaptive Control for Tank Gun Control System Based on ESO Filter

坦克炮控系统是一类不确定、非线性的复杂系统。针对其在低速运行时产生"爬行"、振荡等的问题,依据扩张状态观测器(ESO)滤波和Popov超稳定理论,提出了一种基于ESO滤波的模型参考自适应控制方法。研究了坦克炮控系统的数学模型,给出了基本假设,设计了ESO滤波器和模型参考自适应控制器,并证明了其稳定性,最后通过仿真验证了该方法的有效性。仿真结果表明,该方法有效地消除了系统的未建模动态及外界扰动的影响,增强了系统的快速性,解决了系统的低速"爬行"问题,改善了系统的稳态性能,为炮控系统实际设计提供了一个可行的解决方案。

The tank gun control system is one uncertain and nonlinear system. A new method of model reference adaptive control for the system which contains crawl and vibration phenomena at a very low speed based on extended state observer（ESO）filter was presented by theory of the ESO filter and hyperstability. Matherratic model of the system was studied with the defined basic hypotheses. ESO filter and model reference adaptive controller were designed, the stability was proved; simulating was performed by a real example. The simulated results show that the method eliminates influence of unmodeled dynamics and environmental disturbance on the system, enhances celerity of the system, solves crawl phenomenon at extremely low speed, improves steady-state performance, and provides a realistic new technique for the design of the system.