Adaptive robustness output feedback control method for controlled emission platform

An adaptive and robust technology of transmitting platform, applied in adaptive control, general control system, control/regulation system, etc., can solve the problems of unsatisfactory signal, signal delay, amplified measurement noise, etc., and achieve excellent control performance, The effect of increasing robustness

Inactive Publication Date: 2015-10-07
NANJING UNIV OF SCI & TECH
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

However, due to the measurement noise in the position signal, the speed signal obtained after differentiation often amplifies the measurement noise, making the signal unsatisfactory or even unusable
If the filter is used

Method used

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  • Adaptive robustness output feedback control method for controlled emission platform
  • Adaptive robustness output feedback control method for controlled emission platform
  • Adaptive robustness output feedback control method for controlled emission platform

Examples

Experimental program
Comparison scheme
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Example Embodiment

[0116] Example

[0117] In order to evaluate the performance of the designed controller, the following parameters are used in the simulation to model the controlled launch platform:

[0118] Inertial load parameter J = 0.0138kg·m 2 ;Viscous friction coefficient B=0.2N·m·s / rad; torque amplification factor k u =53.6N·m / V; constant interference d n =0.3N·m; pitch and azimuth coupling coefficient c 1 =0.14N·m(rad / s),c 2 =0.13N·m(rad / s); the upper bound of time-varying interference is δ=0.3N·m; Upper bound δ 2 =0.3N·m; θ min =[0.0014,-0.0036,-0.0036] T ;Θ max =[0.0167,0.0083,0.0083] T ;The positional motion equation in the pitch direction θ=0.1sin(πt)[1-exp(-0.01t 3 )](rad);

[0119] The expected command for a given system is x 1d =sin(πt)[1-exp(-0.01t 3 )](rad).

[0120] According to the system working conditions, the simulation process is as follows:

[0121] When time-varying interference f(t)=0.1sin(πt)(N·m), take the following controller for comparison:

[0122] Output feedback adapti...

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Abstract

The invention discloses an adaptive robustness output feedback control method for a controlled emission platform, belonging to the electro mechanical servo control field. The adaptive robustness output feedback control method for the controlled emission platform comprises steps of establishing a mathematic model of the controlled emission platform, designing adaptive robustness controller for outputting the feedback, and performing a test on the stability of the adaptive robustness controller outputting the feedback. The adaptive robustness output feedback control method for the controlled emission platform performs estimation on inter-framework coupling coefficients of the controlled emission platform, effectively compensates the inter-framework coupling interference torque of the controlled emission platform, effectively observes the system velocity quantity by utilizing an high order sliding mode observer, solves the problem that the velocity quantity is not easy to obtain through the traditional ARC control method, and guarantees the good control performance of the controlled emission platform.

Description

technical field [0001] The invention belongs to the technical field of electromechanical servo control, in particular to an adaptive robust output feedback control method of a controlled launching platform. Background technique [0002] The controlled launch platform is widely used in anti-aircraft weapons. It consists of two parts: the azimuth frame and the pitch frame. The mathematical models of the two are basically the same. Therefore, the design and simulation of the controller can be carried out with the azimuth servo system as the object. When the azimuth frame and the pitch frame of the controlled launch platform move at the same time, the coupling disturbance torque will be generated due to the gyro effect, which will have a certain impact on the control performance of the system. [0003] Aiming at the control problem of the controlled launch platform, many methods have been proposed one after another. Among them, adaptive robust control (ARC) has the advantages o...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 刘龙胡健姚建勇邓文翔
Owner NANJING UNIV OF SCI & TECH
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