坦克全电式炮控系统自适应摩擦补偿控制研究

Study on Adaptive Friction Compensation Control of All-Electric Tank Gun

非线性摩擦力矩会影响坦克全电式炮控系统的低速性能,产生低速"爬行"现象。设计了基于李雅普偌夫定理的模型参考自适应控制,实现对系统摩擦补偿控制。自适应摩擦补偿控制可以计算炮控系统中摩擦模型的变化,能克服由于非线性摩擦参数的不确定性对系统造成的影响。仿真和试验表明:采用模型参考自适应控制,能够有效地改善系统速度较低时存在的"爬行"现象,提高系统的低速性能。

Nonlinear friction moment could have influence on the low speed performance of all-electric tank gun control system and result in low speed crawl phenomenon.Based on the Lyapunov theorem,a kind of model reference adaptive control（MRAC）was prompted to compensate for the nonlinear friction.The adaptive friction compensation control can calculate the variety of friction model in the gun control system,and eliminate the influence of variable parameter of nonlinear friction model on the system.The results of simulation and experiment proved that this approach can reduce crawl phenomenon under the condition of system low speed and improve the low speed performance of system with the aid of MRAC.