基于自抗扰技术的火箭炮伺服系统解耦控制

Decoupling Control of Rocket Launcher Servo System Based on Active Disturbance Rejection Technique

火箭炮伺服系统为方位和俯仰两轴耦合的伺服系统。为研究发射时的两轴耦合问题及燃气流冲击强干扰影响,建立了火箭炮伺服系统双轴转台动力矩方程和耦合系统微分方程,采用基于自抗扰技术的解耦控制方法设计了扩张状态观测器及虚拟控制量。通过扩张状态观测器估计系统总扰动并进行实时补偿,通过虚拟控制量得到实际控制量对耦合系统进行控制。仿真结果表明,基于自抗扰技术的解耦控制提高了火箭炮伺服系统跟踪精度,使系统在两轴负载转矩耦合效应和燃气流冲击下有效地抑制了发射平台振动,满足控制性能指标,对火箭炮两轴耦合控制问题具有一定的理论意义和实用价值。

Rocket launcher servo system is a kind of servo system with azimuth axis and pitch axis coupling.For the sake of researching two-axis coupling and strong disturbance of combustion gas flow impact,the two-axis coupling dynamics equations and differential equations of rocket launcher were established.The extended state observer and virtual control variable were designed based on active disturbance rejection control for decoupling.The total disturbance was estimated through extended state observer and system compensation.The real control law was obtained from virtual control variable to control the coupling system.The simulation results indicated that the proposed control method can improve the tracking precision of rocket launcher and restrain the vibration of launching platform with two-axis coupling effect and combustion gas flow impact,and the control method can also provide theoretical support and actual value for rocket launcher coupling servo system.