控制受限的火箭炮位置伺服系统鲁棒自适应反步控制

Robust Adaptive Backstepping Control for Rocket Launcher Position Servo System with Constraint Control

针对火箭炮位置伺服系统运行过程中所存在的转动惯量和负载力矩变化大,输入控制受限等各种不确定因素,提出了一种基于动态面滤波法的自适应鲁棒位置控制器。对于模型中的不确定参数,采用投影算法进行有效估计,利用鲁棒滑模滤波器简化控制器的设计,引入一个辅助分析系统来对控制输入限制的影响进行有效分析,同时将辅助分析系统与反步方法结合,通过对模型的等价变换和选择适当的Lyapunov函数,给出系统的自适应控制器的设计方法。仿真结果表明,该方法保证了系统的响应速度和控制精度,对参数摄动及外界负载扰动具有较强的鲁棒性。

An adaptive robust controller based on dynamic filtering method is presented for the wide variations in rotational inertia and loading moment and the input control constraints of a rocket launcher position servo system. A projection-type estimation algorithm is used to estimate the uncertainties of model, the design of the controller is simplified by using a robust sliding model filter, meanwhile an auxiliary analysis system is utilized to handle a saturation problem, Besides, the auxiliary analysis system is combined with the backstepping method, a design method of controller is presented by equivalently transforming the model and selecting a proper Lyapunov function. The simulation results show that the proposed approach can guarantee the response speed and control accuracy, and possess a strong robustness to both parameter perturbation and load disturbance.