无人炮塔炮控系统自抗扰控制

Active disturbance rejection control for gun control system of unmanned turret

本文运用机器人分析技术来建立无人炮塔的数学模型,这种方法考虑了炮塔方位向和高低向之间的耦合关系.同时,由于陀螺机构测得的是惯性空间中的角位移,结合三轴稳定原理,对无人炮塔的方位向和高低向射角进行修正,实现火炮轴线在惯性空间中的稳定.针对炮控系统这一包含非线性和不确定性的复杂系统,能在参数摄动和不确定的外部扰动的情况下获得高跟踪精度和稳定性,提出了一种基于自抗扰控制的解耦方法.系统的内部参数摄动、外部扰动和耦合项作为总扰动被扩张状态观测器估计出来,然后在采样间隔被补偿掉.将仿真结果与PID控制作比较,结果表明该控制算法能够有效抵抗系统的不确定非线性因素。

In this paper,a complete mathematical model for unmanned turret system is built based on robotic analysis technique,which takes the nonlinear coupling between azimuth and elevation into consideration.In addition,it provides correction of angles of the azimuth and elevation by using three-axis stabilization principle because of angular displacements measured by gyroscope mechanism in inertia space.And,to achieve high tracking precision and stabilization of gun control system which contains nonlinearity and uncertainty in the situation of parameters perturbation and uncertain external disturbances,a decoupling active disturbance rejection control scheme is proposed.The inner parameters uncertainty,the external disturbances and the coupled effect of the system are estimated as the total disturbances by using extended state observer and compensated during each sampling period.Simulation results show strong robustness and effectiveness of this control algorithm which can reject uncertain nonlinear factors of the system in comparison to the PID control.