武器站伺服传动装置在线辨识与自适应控制方法

Online Identification and Adaptive Control Method for Servo Transmission Device in Weapon Station

针对武器站俯仰轴伺服传动装置在武器载荷变化时控制精度和安全性下降的问题,提出基于多参数在线辨识的自适应复合控制方法。基于符号函数的线性化方法,构建包含传动间隙、电机和负载摩擦非线性的伺服传动装置待辨识模型框架,推导出待辨识参数的显式迭代方程,通过带遗忘因子的递推增广最小二乘算法实现参数在线辨识。在此基础上,提出自适应比例积分控制器与自适应状态扩张卡尔曼滤波器相结合的复合控制方法。实验结果表明:参数辨识方法可实现伺服传动装置9个关键动力学参数的精确在线辨识,稳态辨识误差不超过10%。自适应复合控制方法将系统速度跟随残差均方根降低了28.24%,有效提升了俯仰轴在武器载荷变化时的控制精度和稳定裕度。

The control accuracy and safety of pitch axis servo transmission device in weapon stations may be reduced when the weapon load changes.An adaptive composite control method based on multi-parameter online identification is proposed for the issues above.A model framework for identifying the servo transmission devices with nonlinear transmission clearance,motor,and load friction is constructed based on the linearization method of symbolic functions.The explicit iterative equations for the identified parameters are derived,and the online parameter identification is achieved using a recursive augmented least squares algorithm.On this basis,a composite control method combining an adaptive proportional integral controller and an adaptive state-augmented Kalman filter is proposed.The experimental results show that the parameter identification method can achieve the accurate online identification of 9 key dynamic parameters of servo transmission devices,with steady-state identification errors not exceeding 10%.The adaptive composite control method reduces the root mean square of the system speed following residual by 28.24%,effectively improving the control accuracy and stability margin of the pitch axis when the weapon load changes.