基于ATSMC的破障武器随动系统控制研究

Research on Servo System Control of Obstacle-Destroying Weapon Based on ATSMC

针对电动缸驱动的车载破障武器随动系统控制问题,提出了一种基于指数收敛的干扰观测器和反正切滑模控制器的方法。研究了电动缸传动时系统具有的非线性增益,推导了电动缸机构的变传动比和变负载力矩的公式。为了对随动系统进行位置和速度控制,根据多项式Terminal滑模控制器的思想,采用等效趋近律的方法,设计了反正切Terminal滑模控制器(ATSMC),其具有全局鲁棒性和有限时间可达的能力;为了对系统内部的不确定性和外部扰动进行观测和补偿,设计了一种基于指数收敛的干扰观测器。对控制系统进行仿真,结果表明,ATSMC具有更好的鲁棒性,提高了随动系统控制精度,缩短了响应时间;基于指数收敛的干扰观测器能较好地补偿系统运行中产生的各种扰动,降低了系统稳态误差。

A disturbance observer and arctangent sliding mode controller based on exponential convergence was proposed for the servo system control of the vehicle mounted obstacle-destroying weapon driven by electric cylinders.The nonlinear gain of the system during the electric cylinder transmission was studied,and the formulas for variable transmission ratio and variable load torque of the electric cylinder mechanism were derived.In order to control the position and speed of the servo system,according to the idea of the polynomial terminal sliding mode controller,the arctangent terminal sliding mode controller(ATSMC)with global robustness and finite time reachability was designed by the equivalent reaching law.In order to observe and compensate for internal uncertainties and external disturbances,a disturbance observer based on exponential convergence was designed.The simulation results of the control system show that ATSMC has better robustness,improves the control accuracy of the servo system and shortens the response time.The disturbance observer based on exponential convergence can effectively compensate for various disturbances during system operation and reduce the steady-state error of the system.