基于模型补偿自抗扰的炮塔随动系统控制器

Turret Servo System Controller Based on Model Compensation ADRC

为了满足某自行高炮炮塔俯仰向随动系统的抗干扰性能,重新设计该系统的伺服控制器。在简要描述该系统的结构及工作原理的基础上,对系统各模块建立数学模型。提出了一种用于伺服系统的优化模型补偿自抗扰控制方法。采用变遗忘因子的递推最小二乘(RLS)法,通过输入交轴电流和转速得到伺服系统的所受阻力矩和冲击载荷,对自抗扰控制器进行补偿。并在Matlab/Simulink仿真环境下结合S函数对系统进行仿真研究。性能评估结果表明,该算法较好地增强了扩张状态观测器估计扰动的能力,并提高系统的鲁棒性和控制精度。

In order to meet the anti-disturbance performance of the Self-Propelled Anti-Aircraft Gun(SPAAG)turret pitch servo system,the servo controller of the system was redesigned.The composition and working principle of the servo system were studied,and the mathematical model of each module of the system was established.The model compensation Active Disturbance Rejection Control(ADRC)for pitch servo system was proposed.By using the Recursive Least Squares(RLS)method of variable forgetting factor,and by inputting the cross-axis current and the actual rotational speed,the resistance torque and impact load of the servo system were obtained,which were used for compensation of the ADRC.The system was simulated by the S-Function module in the Matlab/Simulink simulation environment.The simulation results show that this algorithm can generally increase the ability of extended state observer for estimating disturbance,and can enhance the robustness and control precision of systems.