自适应反演滑模控制在火箭炮交流伺服系统中的应用

Application of Adaptive Backstepping Sliding Mode Controlin in Alternative Current Servo System of Rocket Gun

针对某火箭炮俯仰运动的位置控制问题,采用了一种自适应反演滑模控制方法。自适应反演控制律保证了闭环系统最终有界,使伺服系统能够全局渐进跟踪参考位置指令,从而达到交流伺服系统稳定跟踪控制的目的,滑模控制抑制了模型参数摄动和外界干扰的影响。通过不同条件下的仿真研究,分析了自适应机制和滑模控制在运动控制中的作用,结果表明该方法具有较强的适应性及鲁棒性。

A adaptive backstepping sliding mode control approach was introduced to control the pitch motion of a rocket gun.Its control law was proposed to guarantee that the control system was ultimately bounded in a Lyapunov sense and make the servo system could track the instruction of reference position globally and asymptotically.In addition,the sliding mode control can restrain effects of parameter uncertainties and external disturbance.The functions of adaptive mechanism and sliding mode control were analyzed by using simulation under different conditions.The simulation results illustrate that the method is applicable and robust.