防空火箭炮无抖振滑模鲁棒控制策略设计

Design of Chattering Free Robustness Sliding Mode Control Strategy of Antiaircraft Rocket Launcher

针对防空火箭炮运行过程中巨大的外部扰动以及自身参数摄动,设计了一种新型无抖振滑模鲁棒控制策略。该控制策略在建模时将电流环简化为完全跟踪,速度环采用比例控制,在降低系统阶数的同时保证了建模的准确性。通过自适应的方式计算增益值,推导出了一种新型滑模控制律以补偿干扰的影响。仿真和实验结果表明,该控制策略能有效抑制控制输入抖振,改善了防空火箭炮的动态性能和鲁棒性。

A novel chattering free robustness control strategy is designed to overcome the external disturb- ance and variations of system parameters when antiaircraft rocket launch system （AARLS） is running. In this strategy, current loop is simplified and proportion control is adopted in velocity loop, which can re- duce the rank and guarantee the precision of AARLS model. Sliding gain could be acquired by adaptive law, and a novel sliding mode control law is proposed to compensate all the disturbance. Simulation and experimentation show the control strategy can restrain the chattering and improve the dynamic perform- ance and robustness of system.