A nonlinear pressure controller was presented to track desired feeding pressure for the cutter feeding system(CFS) of trench cutter(TC) in the presence of unknown external disturbances.The feeding pressure control of ...A nonlinear pressure controller was presented to track desired feeding pressure for the cutter feeding system(CFS) of trench cutter(TC) in the presence of unknown external disturbances.The feeding pressure control of CFS is subjected to unknown load characteristics of rock or soil; in addition,the geological condition is time-varying.Due to the complex load characteristics of rock or soil,the feeding velocity of TC is related to geological conditions.What is worse,its dynamic model is subjected to uncertainties and its function is unknown.To deal with the particular characteristics of CFS,a novel adaptive fuzzy integral sliding mode control(AFISMC) was designed for feeding pressure control of CFS,which combines the robust characteristics of an integral sliding mode controller and the adaptive adjusting characteristics of an adaptive fuzzy controller.The AFISMC feeding pressure controller is synthesized using the backstepping technique.The stability of the overall closed-loop system consisting of the adaptive fuzzy inference system,integral sliding mode controller and the cutter feeding system is proved using Lyapunov theory.Experiments are conducted on a TC test bench with the AFISMC under different operating conditions.The experimental results demonstrate that the proposed AFISMC feeding pressure controller for CFS gives a superior and robust pressure tracking performance with maximum pressure tracking error within ?0.3 MPa.展开更多
Based on fuzzy adaptive and dynamic surface(FADS),an integrated guidance and control(IGC)approach was proposed for large caliber naval gun guided projectile,which was robust to target maneuver,canard dynamic character...Based on fuzzy adaptive and dynamic surface(FADS),an integrated guidance and control(IGC)approach was proposed for large caliber naval gun guided projectile,which was robust to target maneuver,canard dynamic characteristics,and multiple constraints,such as impact angle,limited measurement of line of sight(LOS)angle rate and nonlinear saturation of canard deflection.Initially,a strict feedback cascade model of IGC in longitudinal plane was established,and extended state observer(ESO)was designed to estimate LOS angle rate and uncertain disturbances with unknown boundary inside and outside of system,including aerodynamic parameters perturbation,target maneuver and model errors.Secondly,aiming at zeroing LOS angle tracking error and LOS angle rate in finite time,a nonsingular terminal sliding mode(NTSM)was designed with adaptive exponential reaching law.Furthermore,combining with dynamic surface,which prevented the complex differential of virtual control laws,the fuzzy adaptive systems were designed to approximate observation errors of uncertain disturbances and to reduce chatter of control law.Finally,the adaptive Nussbaum gain function was introduced to compensate nonlinear saturation of canard deflection.The LOS angle tracking error and LOS angle rate were convergent in finite time and whole system states were uniform ultimately bounded,rigorously proven by Lyapunov stability theory.Hardware-in-the-loop simulation(HILS)and digital simulation experiments both showed FADS provided guided projectile with good guidance performance while striking targets with different maneuvering forms.展开更多
采用高阶滑模控制方法(HOSM,high order sliding mode),对反临近空间高超声速飞行器的拦截弹进行制导控制一体化设计。首先,给出了拦截弹的制导控制一体化模型,并利用高阶滑模控制系统的特点,人为地将系统的相对阶提高一阶,并对升阶后...采用高阶滑模控制方法(HOSM,high order sliding mode),对反临近空间高超声速飞行器的拦截弹进行制导控制一体化设计。首先,给出了拦截弹的制导控制一体化模型,并利用高阶滑模控制系统的特点,人为地将系统的相对阶提高一阶,并对升阶后的增广系统进行准连续高阶滑模控制器设计,之后再由虚拟控制积分得到实际控制指令。这种基于高阶滑模虚拟控制的方法可以有效减小抖振,并且不引入符号函数近似函数,从理论上完整地保留了滑模控制器的鲁棒性。在进行高阶滑模控制器设计时,通过引入任意阶精确鲁棒微分器(AORED,arbitrary order robust exact differentiator)对滑模面的高阶量进行估计,实际使用效果良好。最后,在3种典型的目标机动情境下,将所设计的一体化方法与传统的"制导律+过载驾驶仪"方法进行仿真比较,仿真结果表明,一体化方法不仅具有更小的脱靶量,而且过载指令收敛迅速,能够以更小的过载消耗实现对目标的拦截。展开更多
基金Project(2012AA041801)supported by the High-tech Research and Development Program of China
文摘A nonlinear pressure controller was presented to track desired feeding pressure for the cutter feeding system(CFS) of trench cutter(TC) in the presence of unknown external disturbances.The feeding pressure control of CFS is subjected to unknown load characteristics of rock or soil; in addition,the geological condition is time-varying.Due to the complex load characteristics of rock or soil,the feeding velocity of TC is related to geological conditions.What is worse,its dynamic model is subjected to uncertainties and its function is unknown.To deal with the particular characteristics of CFS,a novel adaptive fuzzy integral sliding mode control(AFISMC) was designed for feeding pressure control of CFS,which combines the robust characteristics of an integral sliding mode controller and the adaptive adjusting characteristics of an adaptive fuzzy controller.The AFISMC feeding pressure controller is synthesized using the backstepping technique.The stability of the overall closed-loop system consisting of the adaptive fuzzy inference system,integral sliding mode controller and the cutter feeding system is proved using Lyapunov theory.Experiments are conducted on a TC test bench with the AFISMC under different operating conditions.The experimental results demonstrate that the proposed AFISMC feeding pressure controller for CFS gives a superior and robust pressure tracking performance with maximum pressure tracking error within ?0.3 MPa.
基金supported by Naval Weapons and Equipment Pre-Research Project(Grant No.3020801010105).
文摘Based on fuzzy adaptive and dynamic surface(FADS),an integrated guidance and control(IGC)approach was proposed for large caliber naval gun guided projectile,which was robust to target maneuver,canard dynamic characteristics,and multiple constraints,such as impact angle,limited measurement of line of sight(LOS)angle rate and nonlinear saturation of canard deflection.Initially,a strict feedback cascade model of IGC in longitudinal plane was established,and extended state observer(ESO)was designed to estimate LOS angle rate and uncertain disturbances with unknown boundary inside and outside of system,including aerodynamic parameters perturbation,target maneuver and model errors.Secondly,aiming at zeroing LOS angle tracking error and LOS angle rate in finite time,a nonsingular terminal sliding mode(NTSM)was designed with adaptive exponential reaching law.Furthermore,combining with dynamic surface,which prevented the complex differential of virtual control laws,the fuzzy adaptive systems were designed to approximate observation errors of uncertain disturbances and to reduce chatter of control law.Finally,the adaptive Nussbaum gain function was introduced to compensate nonlinear saturation of canard deflection.The LOS angle tracking error and LOS angle rate were convergent in finite time and whole system states were uniform ultimately bounded,rigorously proven by Lyapunov stability theory.Hardware-in-the-loop simulation(HILS)and digital simulation experiments both showed FADS provided guided projectile with good guidance performance while striking targets with different maneuvering forms.
文摘采用高阶滑模控制方法(HOSM,high order sliding mode),对反临近空间高超声速飞行器的拦截弹进行制导控制一体化设计。首先,给出了拦截弹的制导控制一体化模型,并利用高阶滑模控制系统的特点,人为地将系统的相对阶提高一阶,并对升阶后的增广系统进行准连续高阶滑模控制器设计,之后再由虚拟控制积分得到实际控制指令。这种基于高阶滑模虚拟控制的方法可以有效减小抖振,并且不引入符号函数近似函数,从理论上完整地保留了滑模控制器的鲁棒性。在进行高阶滑模控制器设计时,通过引入任意阶精确鲁棒微分器(AORED,arbitrary order robust exact differentiator)对滑模面的高阶量进行估计,实际使用效果良好。最后,在3种典型的目标机动情境下,将所设计的一体化方法与传统的"制导律+过载驾驶仪"方法进行仿真比较,仿真结果表明,一体化方法不仅具有更小的脱靶量,而且过载指令收敛迅速,能够以更小的过载消耗实现对目标的拦截。
