弹药协调器非线性连续时变反馈控制

为解决某弹药协调器的精确快速定位控制问题,研究了一种基于隐式Lyapunov函数的连续时变反馈控制方法,该方法在控制律形式上类似PD控制,但其中的比例和微分系数取决于系统Lyapunov函数,是系统误差变量的可微函数.首先,采用第2类Lagrange方法建立了系统的动力学模型,在此基础上,针对协调器系统存在的摩擦和小平...

Nonlinear continuous time-varying feedback control of an ammunition coordinator

For the precise and fast position control of an ammunition coordinator, a continuous time-varying feedback control method based on implicit Lyapunov function was proposed. The method is PD-like in the form of control law, but its proportional and differential coefficients depend on the system Lyapunov function, which are differentiable functions of system error variables. First, the dynamic model of the system was established through the second Lagrange equation. Two main nonlinear disturbance terms of the ammunition coordinator system (i.e., friction torque and balance torque) were modeled in detail, where the friction term was modeled via LuGre model. Then, experiments were designed according to the structure of the dynamic model, and key parameters in the friction torque and balance torque terms were identified through genetic algorithm using experimental data. To further shorten the positioning time of ammunition coordinator and improve its coordination efficiency and performance, the model-based feedforward compensation of the friction torque and balance torque were introduced into the control strategy. Experimental results show that the proposed control method was robust to system payload uncertainty. With varying payload, the positioning time and accuracy of the system were guaranteed. In addition, the nonlinear disturbance compensation of the friction torque and balance torque shortened the positioning time by 25.1%, from 2.07 s to 1.55 s. Meanwhile, the positioning accuracy was guaranteed, which verified the effectiveness of the proposed method.