舰载火箭炮自适应内模输出调节问题研究

Research on Adaptive Internal Model-based Output Regulation Problem in a Shipborne Rocket Laucher

为了抑制某舰载火箭炮武器系统中舰体摇摆运动对身管指向精度的影响,建立基于永磁同步电机的伺服发射系统一体化系统数学模型,研究了其基于内模原理的输出调节问题。将舰体的摇摆运动建模为由若干频率、幅值和相位均未知的正弦信号叠加而成的谐波曲线,设计了基于系统跟踪误差和内模控制律状态变量的自适应律,使得内模控制律对伺服发射装置和干扰信号的不确定性均具有很好的鲁棒性,数值仿真结果表明该控制策略补偿舰体耦合干扰效果明显,系统稳态跟踪误差在原点具有指数渐近稳定性。

To reject the disturbance from oscillating ship deck in a shipborne rocket launcher control system, a mathematical model of the integrated system based on permanent magnet synchronous motor （PMSM） was established, and the internal model-based output regulation problem （ORP） was studied. The deck motion was modeled as the superposition of a fixed number of sinusoidal functions of time, and of unknown frequency, amplitude and phase. An adaptive scheme based on the tracking error and the states of the internal model controller was designed, which is robust with respect to uncertainties on the mechanical parameters that characterize the model and the exosystem. Simulation results demonstrate that the proposed control strategy performs well in solving ORP of rejecting the disturbance coupling from rocket fixed deck, and the tracking error is exponentially asymptotically stable at the origin.