基于扰动观测器的弹药提升装置模糊滑模控制
Fuzzy Sliding Mode Control of Ammunition Lifting Device Based on Disturbance Observer
王震维1
作者信息
- 1. 南京理工大学 机械工程学院,江苏 南京 210094
- 折叠
摘要
针对某新型弹药提升装置位置控制过程中负载变化和外界扰动等带来的不确定性问题,提出一种基于扰动观测器的模糊滑模控制策略.引入扰动观测器对复合干扰进行在线估计和前馈补偿;由于系统参数的不确定性,很难对系统进行精确建模,利用模糊逻辑逼近数学模型,从而建立等效控制律,大大减轻了控制器的设计难度.仿真结果表明:所设计的控制策略在外界干扰存在的情况下,能够对弹药提升装置位置进行精确控制,具有良好的鲁棒性.
Abstract
A fuzzy sliding mode control strategy based on a disturbance observer is proposed to address the uncertainty caused by load changes and external disturbances in the position control process of a new ammunition lifting device.A disturbance observer is introduced for online estimation and feedforward compensation of the composite disturbance.As the uncertainty of the system parameters makes it difficult to model the system accurately,fuzzy logic is used to approximate the mathematical model so as to establish an equivalent control law,which greatly reduces the difficulty of controller design.Simulation results show that the designed control strategy is able to control the position of the ammunition lifting device accurately in the presence of external disturbances,and has good robustness.
关键词
弹药提升装置/扰动观测器/模糊滑模控制Key words
amunition lifting device/disturbance observer/fuzzy sliding mode control引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据