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。
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.
作者
王震维
WANG Zhenwei(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)
出处
《机械制造与自动化》
2024年第4期197-200,共4页
Machine Building & Automation
关键词
弹药提升装置
扰动观测器
模糊滑模控制
amunition lifting device
disturbance observer
fuzzy sliding mode control
作者简介
王震维(1998-),男,内蒙古赤峰人,硕士研究生,研究方向为自动装弹机,295059414@qq.com。
