Online Identification and Adaptive Control Method for Servo Transmission Device in Weapon Station
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.
weapon stationservo transmission deviceonline identificationadaptive control
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