【摘要】 为了提高武装直升机持续高精度稳定射击能力，分析了机载航炮随动系统连发射击时所受负载扰动，设计了一种改进型负载转矩观测器，对系统冲击载荷进行实时观测，同时引入观测值作为电流环的前馈补偿。并将非奇异快速终端滑模控制应用于转速环，保证了系统收敛时间有限性，抑制了系统抖振，提高了系统抗扰动能力。仿真结果表明，该仿真模型能模拟航炮随动系统连发射击状态，提出的控制策略不仅能提高系统稳态精度，而且能削弱冲击负载对航炮随动系统性能影响，增强了系统的稳定性。更多还原

【Abstract】 In order to improve the continuous high-precision and stable firing ability of an armed helicopter, this paper analyzes the load disturbance of the aerial gun servo system during continuous firing, and designs an improved load torque observer to observe the impact load of the system in real time. At the same time, the observed value is introduced as the feedforward compensation of the current loop. The non-singular fast terminal sliding mode control is applied to the speed loop to ensure the finite convergence time of the system, reduce the chattering of the system, and improve the anti-disturbance ability of the system. The simulation results show that the simulation model can correctly simulate the continuous firing state of the aerial gun servo system. The proposed control strategy can not only improve the steady-state accuracy of the system, but also weaken the impact of impact load on the performance of the aerial gun servo system, which enhances the stability of the system.更多还原