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Adaptive Robust Output Feedback Control Method for Controlled Launch 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: 2017-12-12
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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 to filter the position signal first, the signal will be delayed, so that the collected position signal is not a real-time signal
Therefore, the traditional adaptive robust control method has great engineering limitations

Method used

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  • Adaptive Robust Output Feedback Control Method for Controlled Launch Platform
  • Adaptive Robust Output Feedback Control Method for Controlled Launch Platform
  • Adaptive Robust Output Feedback Control Method for Controlled Launch Platform

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

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

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

[0119] The desired instruction 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 the time-varying disturbance f(t)=0.1sin(πt)(N·m), take the following controller for comparison:

[0122] Outp...

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Abstract

The invention discloses an adaptive robust output feedback control method of a controlled launch platform, which belongs to the field of electromechanical servo control. The method includes: establishing a mathematical model of a controlled launch platform; designing an adaptive robust controller for output feedback ; Stability testing of adaptive robust controllers with output feedback. The invention estimates the coupling coefficient between the frames of the controlled launch platform, effectively compensates the coupling interference moment between the frames of the controlled launch platform, and effectively observes the velocity of the system by using a high-order sliding mode observer, which solves the problem of traditional The ARC control method has the problem that the required system speed is not easy to obtain, and at the same time ensures the excellent control performance of the controlled launch 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 launch 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 of i...

Claims

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Application Information

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