基于扩张状态观测器的火箭炮耦合系统反步控制

针对存在参数摄动、冲击力矩大的火箭炮位置伺服系统的控制问题,建立了火箭炮位置伺服系统的机电耦合模型,基于扩张状态观测器提出了一种反步控制策略。该方法运用扩张状态观测器以实时估计控制系统的外界负载扰动,选择合适的Lyapunov函数,得到了使系统跟踪误差有界的调整策略。仿真和试验结果表明,该方法不仅保证了系统的静、动态特性,而且对参数摄动具有较强的鲁棒性。研究结果为进一步完善控制器理论结构及实践应用提供了参考依据。

Backstepping Controller for Rocket Coupling System with Extended State Observer

A backstepping control based on extended state observer design for rocket launcher position servo system with external disturbances and wide variations in moment of inertia, and a electromechanical coupling model is established. By employing extended state observer to compensate some uncertainty fac- tors. Then, applying the type Lyapunov function, which can guarante the uniform boundness of tracking error. Simulation and experiment analysis show that the proposed approach can guarantee the static and dynamic performance, and possesses a strong robustness to parameters perturbation. The results can pro- vide a reference for improving controller theoretical structure and practical application.