坦克炮控系统非线性状态估计与参数辨识研究

Research on Nonlinearity State Estimation and Parameter Identification of Tank Gun Control System

针对系统状态估计与参数辨识问题的互逆性,建立不依赖于系统模型的扩张状态观测器(ESO),用以实时获取系统的状态变量,在此基础上设计基于协方差阵修正最小二乘法(CVMLS)的辨识器,实现了坦克炮控系统状态变量与参数的联合估计。分析了ESO和CVMLS的估计误差,采用条件限制动态补偿方法,进一步提高了系统的辨识精度。通过仿真分析验证了算法的性能,为进一步开展炮控系统相关理论研究与工程实践奠定基础。

Considered the reciprocity between system state estimation and parameter identification,an extended state observer （ESO） independent from system model was set up to obtain the state variables in real time.Furthermore,a parameter identifier was designed on the basis of covariance modification least squares algorithm （CVMLS）,so that the state variables and parameters of tank gun control system could be estimated simultaneously.The errors of ESO and CVMLS were analyzed,and then the condition-confined dynamic compensation was adopted to improve the identification precision.The performance of algorithm was verified by simulation.The research work lays a foundation of further theoretical research and engineering practice.