重载发射装置俯仰伺服系统自适应鲁棒控制

Adaptive Robust Control for the Pitch Servo System of Heavy Load Launcher

重载导弹发射装置的俯仰系统,大都采用非对称液压缸驱动,具有非线性强、重载偏心距大等特点。针对由电液伺服驱动的导弹发射装置俯仰系统的非线性控制问题,基于独立阀口节流过程,建立伺服阀压力流量非线性方程。在负载动态方程中,兼顾机构非线性,并以光滑型LuGre摩擦模型描述系统的摩擦动态,建立了系统的非线性状态空间数学模型。为克服系统的严重非线性和不确定性对俯仰过程控制的影响,提出了一种自适应鲁棒控制策略,该策略通过自适应方法来处理系统的参数不确定性,同时运用非线性鲁棒反馈控制来处理模型补偿误差以及外来扰动。Lyapunov稳定性分析表明,提出的自适应鲁棒控制策略具有闭环稳定性和优良的控制性能。仿真结果表明,与经典的PID控制算法相比,所设计控制器具有更优异的跟踪性能以及良好的参数自适应收敛性。

The pitch system of heavy load missile launcher,which was characterized by strong nonlinearities and large eccentricity of heavy load,was mainly driven by asymmetric hydraulic cylinder. In order to solve the nonlinear control problem of missile launcher pitch system driven by electro-hydraulic servo valve,a nonlinear pressure-flow equation of servo valve was proposed which was based on independent valve port throttling process. In the load dynamic equation,the nonlinear state space model of the system was derived and established by utilizing LuGre friction model to describe the friction dynamics of the system. To overcome the influence of severe nonlinearities and uncertainties on the control of pitch process,an adaptive robust control strategy was conducted. Then,parametric uncertainties were adopted via an adaptive law,and model compensation error as well as external disturbances were dominated by a robust feedback law. The closed-loop stability and good control performance was proved by Lyapunov stability analysis. Simulation results showed that,compared with classical PID controller,the proposed controller had more excellent tracking performance and convergence of parametric adaption.