基于扩展状态观测器的链式自动弹仓广义预测控制
Generalized Predictive Control of Automatic Chain Magazine Based on Extended State Observer
谢瑶 1徐亚栋 1鲁飞 2周光祖1
作者信息
- 1. 南京理工大学 机械工程学院, 江苏 南京 210094
- 2. 中国人民解放军32381 部队, 北京 100000
- 折叠
摘要
为了实现链式自动弹仓的位置跟踪问题,设计了一种将扩展状态观测器和广义预测控制相结合的新的控制策略.在连续时间广义预测控制算法的基础上,设计了广义预测位置控制器;通过扩展状态观测器对弹仓系统的多源扰动进行了估计,利用估计值对广义预测控制器进行了前馈校正,增强了控制器的抗干扰能力,确保了控制系统的稳定.分别在空载、半载和满载3 种不同负载工况下对链式自动弹仓进行控制仿真和分析.结果表明:与PID控制相比,提出的控制策略对扰动力矩不敏感,具有更好的鲁棒性,且稳态误差更小,位置控制精度更高.
Abstract
In order to realize the position tracking of automatic chain magazine,a new control strategy combining extended state observer and generalized predictive control was proposed.Based on the con-tinuous-time generalized predictive control algorithm,a generalized predictive position controller was designed.The multi-source disturbance of the magazine system was estimated by the extended state ob-server,and the feed-forward correction of the eneralized prediction controller was carried out according to estimated values,so anti-interference ability and stability of the controller was enhanced.The simu-lation and analysis of the automatic chain magazine was carried out under three different load conditions including no-load,half-load and full-load.The results show that compared with PID control,the con-trol strategy proposed in this paper is insensitive to disturbance torque,and has better robustness,smaller steady state error and higher position control accuracy.
关键词
链式自动弹仓/广义预测控制/扩展状态观测器/位置控制Key words
automatic chain magazine/generalized predictive control/extended state observer/po-sition control引用本文复制引用
出版年
2024
NETL
NSTL
万方数据