强冲击载荷下火箭炮位置伺服系统跟踪控制

Tracking Control of Rocket Launcher Position Servo System Under Tremendous Impulse Load

针对火箭炮位置伺服系统,提出了一种基于干扰估计的鲁棒跟踪控制策略。考虑火箭炮运行过程中存在的系统参数摄动和复杂外干扰,将两者归为总干扰,采用有限时间干扰观测器对其进行了有效的估计,在此基础上进一步设计了基于指令信号的鲁棒反馈控制器,该控制器中使用指令及指令的导数代替状态反馈信息,从而避免了测量噪声带来的不良影响。通过Lyapunov理论证明了系统的稳定性。仿真结果表明,系统能够实现优良的跟踪性能,验证了控制器和有限时间干扰观测器的有效性。

A disturbance-estimation-based robust tracking controller is proposed for rocket launcher position servo system.Considering the parametric deviations and complex external disturbance while the rocket launcher is in motion,which are lumped into the total disturbance,a finite-time-disturbance-observer is utilized to effectively estimate the disturbance.Furthermore,a desired-trajectory-based robust feedback controller is designed,in which the trajectory and its derivative is substituted for the states in terms of information feedback,so that the adverse effects from noise measurement are avoided.The stability of closed loop was proved via Lyapunov theorem.Simulation results show that the controller guarantees an excellent tracking performance,which verifies the efficacy of the controller and the finite time disturbance observer.