【摘要】 针对火箭炮负载变化范围大、发射扰动力矩强和跟踪精度要求高等特点,提出了一种双自由度反推控制方法。根据伺服系统数学模型进行逆向递推,设计了控制律,利用自由度因子调整控制参数,并通过Lyapunov函数证明了闭环控制系统的稳定性。对系统外界干扰及参数摄动的位置控制进行了仿真研究,并实验研究了系统调转、等速及正弦跟踪特性。仿真与实验结果表明,该方法保证了系统的响应速度和控制精度,对负载扰动和参数摄动具有很强的鲁棒性。更多还原

【Abstract】 A double degrees of freedom backstepping control method is proposed for large variation in load,strong disturbing torque due to launching and high tracking accuracy requirement.Control law is designed by deriving iteratively according to the mathematical model of servo system.Degree of freedom factor is used to adjust the control parameters,and the closed-loop controlling system is proved to be stable through Lyapunov function.The simulation study of the position tracking under the conditions of external disturbance and parameter perturbation was carried out,and the constant-velocity and sine-velocity tracking performances were experimentally analyzed.The simulation and experiment results show that the proposed approach can guarantee the response speed and control accuracy and has a strong robustness to the load disturbance and parameter perturbation.更多还原