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变摩擦负载下舰炮伺服系统自抗扰控制研究
Research on ADRC of naval gun servo system with variable friction load
- DOI:
- 作者:
- 马晓贺
MA Xiao-he
- 作者单位:
- 中国船舶集团有限公司第七一三研究所，河南 郑州 450015
The 713 Research Institute of CSSC, Zhengzhou 450015, China
- 关键词:
- 舰炮伺服系统;低速稳定性;LuGre模型;自抗扰控制
naval gun servo system; low speed stability; LuGre model; ADRC
- 摘要:
- 非线性、时变摩擦力是影响舰炮伺服系统低速稳定性的主要因素，为了克服摩擦力矩的不良影响，弥补传统控制策略的不足，提高伺服系统的控制性能。首先建立某型舰炮伺服系统的数学模型，并在LuGre摩擦模型的基础上引入摩擦系数来表达摩擦力的变化趋势；然后根据系统特性设计一种基于前馈补偿和模型参考线性自抗扰技术的复合器控制器，最后通过仿真实验对比分析该复合控制器和传统前馈PID控制器的控制效果。仿真结果表明，该控制器在不同的摩擦负载下均能有效避免爬行现象，与前馈PID控制效果相比启动误差减小70%以上，有效提高了系统的低速稳定性和控制精度。
Nonlinear and time-varying friction is the main factor affecting the low-speed stability of naval gun servo system. In order to overcome the adverse effects of friction torque, make up for the shortcomings of traditional control strategies, and improve the control performance of the servo system. Firstly, a mathematical model of a naval gun servo system is established, and the friction coefficient is introduced on the basis of the LuGer model to express the changing trend of friction force. Then according to the system characteristics, a composite controller based on feedforward compensation and model reference linear active disturbance rejection controller (MLADRC) technology is designed. Finally, the control effects of the feedforward MLADRC and the traditional feedforward PID controller are compared and analyzed by simulation. The test results show that the controller can effectively avoid the creep phenomenon under different friction loads, and compared with the feedforward PID control effect, the start-up error can be reduced by more than 70%, which effectively improves the low speed stability and control accuracy of the system.
2023,45(3): 177-181 收稿日期：2022-04-24
DOI：10.3404/j.issn.1672-7649.2023.03.035
分类号：TJ391
基金项目：国防研制项目
作者简介：马晓贺(1988-),男,硕士,工程师,研究方向为舰炮控制技术
