火箭炮位置伺服系统自抗扰控制

针对火箭炮发射时燃气流冲击干扰强和系统参数变化大的特点，以含有速度闭环的实际伺服系统为对象，建立系统模型并进行频域分析，建立了系统的低频和中频近似模型，并在此基础上分别设计了火箭炮位置伺服系统2阶和3阶线性扩张状态观测器及相应的自抗扰控制律，估计系统未建模干扰并在控制输入中予以补偿。比较分析了设计的自抗扰控制律和传统PID控制在伺服跟踪和燃气流冲击干扰下的控制效果。仿真结果表明，火箭炮伺服系统采用提出的控制方法能有效提高跟踪精度，充分抑制燃气流冲击干扰引起的发射平台振动，保证后续射弹命中精度。

Active Disturbance Rejection Control for Position Servo System of Rocket Launcher

The strong disturbance of combustion gas flow and the large change of system parameters for rocket launcher are analyzed. The system model is based on real servo system with speed closed loop using frequency domain analysis. The approximate low frequency and middle frequency models are established to construct the second-order and third-order linear extended state observers for position servo system. And the active disturbance rejection control methods are designed to estimate the uncertain dynamics compensating the input control. The control effects of proposed control laws and traditional PID are compared both in the servo tracking and the disturbance of combustion gas flow. The simulation results indicate that the proposed methods can effectively improve the output tracking accuracy, and restrain the vibration of launching platform resulted from the disturbance of combustion gas flow to maintain hit precision of projectile.