基于扩张状态观测器滤波的坦克炮控系统模型参考自适应控制

坦克炮控系统是一类不确定、非线性的复杂系统。针对其在低速运行时产生“爬行”、振荡等的问题，依据扩张状态观测器(ESO)滤波和Popov超稳定理论，提出了一种基于ESO滤波的模型参考自适应控制方法。研究了坦克炮控系统的数学模型，给出了基本假设，设计了ESO滤波器和模型参考自适应控制器，并证明了其稳定性，最后通过仿真验证了该方法的有效性。仿真结果表明，该方法有效地消除了系统的末建模动态及外界扰动的影响，增强了系统的快速性，解决了系统的低速“爬行”问题，改善了系统的稳态性能，为炮控系统实际设计提供了一个可行的解决方案。

Method of Model Reference Adaptive Control for Tank Gun Control System Based on ESO Filter

The tank gun control system is one uncertain and nonlinear system. A new method of model reference adaptive control for the system which contains crawl and vibration phenomena at a very low speed based on extended state observer(ESO) filter was presented by theory of the ESO filter and hy-perstability. Matherratic model of the system was studied with the defined basic hypotheses. ESO filter and model reference adaptive controller were designed, the stability was proved; simulating was performed by a real example. The simulated results show that the method eliminates influence of un-modeled dynamics and environmental disturbance on the system, enhances celerity of the system, solves crawl phenomenon at extremely low speed, improves steady-state performance, and provides a realistic new technique for the design of the system.