Research on Servo System Control of Obstacle-Destroying Weapon Based on ATSMC
A disturbance observer and arctangent sliding mode controller based on exponential conver-gence was proposed for the servo system control of the vehicle mounted obstacle-destroying weapon driven by electric cylinders.The nonlinear gain of the system during the electric cylinder transmission was studied,and the formulas for variable transmission ratio and variable load torque of the electric cylinder mechanism were derived.In order to control the position and speed of the servo system,according to the idea of the polynomial terminal sliding mode controller,the arctangent terminal sliding mode controller(ATSMC)with global robustness and finite time reachability was designed by the equivalent reaching law.In order to observe and compensate for internal uncertainties and external dis-turbances,a disturbance observer based on exponential convergence was designed.The simulation re-sults of the control system show that ATSMC has better robustness,improves the control accuracy of the servo system and shortens the response time.The disturbance observer based on exponential conver-gence can effectively compensate for various disturbances during system operation and reduce the steady-state error of the system.
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维普
