坦克炮控系统摩擦扰动补偿研究

针对坦克水平向炮控伺服系统中存在的摩擦不确定因素及未建模动态,首先建立水平向炮控伺服系统的数学模型,将摩擦扰动和未建模动态视为一个综合扰动项,然后利用扩张状态观测器对综合扰动项进行观测和补偿,并将扩张状态观测器(ESO)补偿回路作为经典PID控制方法的内回路,实现ESO-PID的复合控制;最后对所用方法进行仿真,结果表明,在原有控制方法的基础上设计控制器,集合了PID控制算法的"被动抗扰"和自抗扰控制方法中扩张状态观测器的"主动抗扰"特性,能够在保持控制系统原有特性的基础上大幅度提高炮控系统的稳定精度以及低速性能。

Study on Friction Disturbance Compensation for Gun Control System of Tank Based on ESO-PID

Aimed at the friction uncertainties and unmodeled dynamics in tank azimuth gun control system,the azimuth Gun Control system model is established firstly,then considering them as a composite disturbance,and then,extended states observer(ESO),a new observer is proposed to observe and compensate this composite disturbance,and using the compensation loop of ESO as the inner loop of traditional PID controller.Finally,the simulation results show that the anti-interference ability could be improved by the designing of ADRC with traditional PID control,which has the feature of"passive anti-interference"and"active anti-interference".The stable precision of visible axis and low speed feature could be well improved.