火箭炮两轴耦合位置伺服系统线性自抗扰控制

为了研究方位和俯仰两轴耦合作用下的火箭炮位置伺服系统控制性能，以含有速度闭环的实际系统为对象建立了火箭炮两轴耦合位置伺服系统数学模型。通过频域分析分别提出了方位和俯仰系统的2阶近似模型，设计了两轴系统的线性扩张状态观测器和自抗扰控制器，对系统未建模干扰进行估计并实时补偿。仿真结果表明：该观测器能较好地估计系统总扰动，所设计的控制器有效抑制了两轴负载力矩耦合效应对系统的影响并补偿了火箭炮发射时燃气流冲击力矩强干扰；在伺服跟踪和发射条件下采用所提出的控制方法充分抑制了耦合系统发射平台振动，保证后续射弹精度，性能指标明显优于PID控制。

Linear Active Disturbance Rejection Control for Two-axis Coupling Position Servo System of Rocket Launcher

In order to study the performance of the position servo system of rocket launcher with the azimuth axis and pitch axis coupling, a model of two-axis coupling position servo system is established based on real servo system with velocity closed loop. The second-order approximate models of azimuth axis and pitch axis are proposed through frequency domain analysis. The linear extended state observer and active disturbance rejection controller of the two-axis system are designed to estimate and compensate uncertain dynamics. The simulation results show that the proposed observer estimates the total system disturbances satisfactorily, and the controller compensates the strong disturbance of combustion gas flow impact moment and the coupling effect. The proposed controller could restrain the vibration of the coupling system to maintain launching accuracy in condition of servo tracking and launching, of which control performance is superior to that of PID controller.