Artillery Charge Coordination Arm Position Control Based on a High-Gain Observer
Aiming at the problem that the in-position accuracy of the charge coordination arm move-ment in the coordination process of the artillery coordination conveyor is insufficient,an adaptive sli-ding mode control strategy of the artillery charge coordination arm based on a high-gain observer is pro-posed.It uses a high-gain observer to estimate the unknown state of the artillery charge coordination arm servo system and effectively tracks and compensates it online.A sliding mode controller is de-signed to eliminate the error of the observed state so as to realize fast and high-precision control of the charge coordination arm servo system.Aiming at the high-frequency chattering phenomenon in the sli-ding mode control process,an adaptive law is designed and combined with the sliding mode controller,which greatly reduces the chattering of the control quantity.Simulation results show that under extreme working conditions of the charge loader being fully filled,this control strategy can greatly improve the accuracy of the charge coordination arm in place and has strong robustness.
automatic loadingcharge coordination armhigh-gain observersliding mode controladaptive law
万方数据
维普
