回转式弹仓的自适应近似变结构控制

为提高回转式自动化弹仓的定位控制精度及降低弹仓在运动过程中的振动,针对回转式自动化弹仓在运动过程中齿轮多边形效应明显、非线性摩擦难以准确测得、冲击振动大等造成的定位控制精度低的问题,提出了一种基于自适应算法的近似变结构控制方法。通过改进传统滑模超平面并将其与自适应算法结合,使超平面能够依据系统误差自适应改变; 对回转式弹仓系统的转动惯量与阻尼系数进行了自适应估计。基于Simulink仿真,得出弹仓在不同载荷条件下的控制误差,并与PID控制、传统滑模变结构控制效果对比。分析结果表明:在同等扰动及同等载荷条件下,改进自适应近似变结构控制能够更有效地提高回转式自动化弹仓的定位控制精度,且能够有效降低弹仓运动过程中的振动。

Adaptive Approximate Variable Structure Control of Rotary Shell Magazine

The gear polygon effect is obvious during the movement of rotary automatic magazine,and it is difficult to accurately measure the nonlinear friction,and the impact vibration is large. In order to improve the positioning control precision of rotary automatic magazine and reduce the vibration of magazine during the movement,an approximate variable structure control method based on adaptive algorithm was proposed. By improving the traditional sliding mode hyperplane and combining it with the adaptive algorithm,the hyperplane can adaptively change the hyperplane according to the system error,and the moment of inertia and damping coefficient of the rotary magazine system were adaptively estimated. Based on Simulink simulation,the control error of the magazine under different load conditions was obtained,and it was compared with the PID control and the traditional sliding mode variable structure control effect. The analysis results show that under the conditions of equal disturbance and the same load,the improved adaptive approximate variable structure control can effectively improve the positioning control precision of rotary automatic magazine and effectively reduce the vibration during the movement of magazine.