基于自适应鲁棒控制的坦克俯仰系统建模与仿真

为准确描述坦克行进间的火炮俯仰系统,利用动力学软件RecurDyn建立了坦克行进间多体系统动力学模型,并通过仿真与试验初步验证了模型的可信性。对以永磁同步电机(PMSM)为执行机构的火炮俯仰系统进行了动力学建模分析,并建立了火炮俯仰系统的数学模型。在此基础上,针对传统三环结构控制效果不佳的问题,设计了火炮俯仰位置伺服系统自适应鲁棒控制器,以及对系统扰动进行反馈补偿的干扰观测器,完成了控制器的稳定性分析,并建立了火炮俯仰系统控制模型。最后,通过接口模块实现了坦克俯仰系统的联合仿真。仿真结果表明:本文建立的坦克行进间多体系统动力学模型具有一定的合理性,设计的火炮俯仰位置伺服系统控制策略具有较好的阶跃响应和瞄准稳定性能以及较强的鲁棒性和抗干扰能力。

Modeling and Simulation of Tank Pitching System Based on Adaptive Robust Control

In order to accurately describe the gun pitch system of a moving tank,the dynamic model of multi-body system of a marching tank was established by the dynamic software RecurDyn. The credibility of the model was preliminarily verified by simulation and experiment. The dynamic modeling and analysis of the gun pitching system with the permanent magnet synchronous motor(PMSM)as the actuator were carried out,and the mathematical model of the gun pitching system was established. On this basis,aiming at the problem of poor controlled by the traditional three loop structure,the adaptive robust controller of the gun pitch servo system and the disturbance observer for feedback compensation of the system disturbance were designed. The stability analysis of the controller was completed,and the control model of the gun pitch system was designed. Finally,the co-simulation of the tank pitching system was realized through the interface module. The simulation results show that the multi-body system dynamic model established in this paper is reasonable,and control strategy of the designed gun pitch servo system has good step response,aiming stability,strong robustness and anti-interference ability.