基于扰动观测器的协调器自适应滑模控制

为提高某型火炮协调器在复杂运动工况下的控制精度，以协调器液压系统为研究对象，提出一种基于扰动观测器的自适应滑模控制策略。滑模控制可使系统遵循所设计的滑模动态面状态轨迹，实现系统的非线性控制；增加自适应策略可防止系统因滑模切换增益过大而失效；在此基础上增加扰动观测器进行前馈补偿，能减小系统参数变化和未知扰动对系统的影响，减少抖振，有效提高控制性能。联合仿真和实验结果表明，该控制策略能较好地提高系统控制精度。

Coordinator Adaptive Sliding Mode Control Based on Disturbance Observer

In order to improve the control accuracy of a certain type of artillery coordinator under complex motion conditions, an adaptive sliding mode control strategy based on disturbance observer was proposed for the hydraulic system of the coordinator. The sliding mode control can make the system follow the state trajectory of the sliding mode dynamic surface, and realize the nonlinear control of the system. An adaptive strategy is added to prevent the system from failure due to excessive sliding mode switching gain. On this basis, adding disturbance observer for feed forward compensation can reduce the influence of system parameter changes and unknown disturbances on the system, reduce chattering, and effectively improve the control performance. The joint simulation and experimental results show that the control strategy can improve the control accuracy of the system.