Fuzzy LQR Control Method for Servo System of Remote Control Weapon Station
In the servo control system of remote control weapon station,as such features exist as large charges of load torque,high requirements for tracking accuracy,etc.,a fuzzy LQR control strategy is proposed,which is applied to the speed control of weapon station.To solve the contradiction between fast and steady state accuracy existing in PI controller and poor robustness problems.The LQR controller is designed based on the rotation speed tracking model of permanent magnet synchronous motor.Aiming at the problems of fixed weight coefficient of LQR controller,difficult parameter adjustment,and poor parameter adaptability of motor running under different rotation speed and load conditions,a fuzzy adjustment strategy of LQR weight coefficient based on rotation speed tracking error is proposed,and a fuzzy LQR controller is designed on such basis.The control performance of the controller is verified by simulation and physical testing.The results show that the designed fuzzy LQR controller has higher tracking accuracy and stability at different rotation speeds,and while has strong robustness to load disturbance and system parameter perturbation.
remote control weapon stationservo control systemfuzzy controlfuzzy LQRLyapunov stability
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