基于双幂次趋近律火炮链传动药仓自适应控制

发布时间：2018-06-11 14:14

本文选题：火炮链传动药仓 + 抖振　；参考：《东南大学学报(自然科学版)》2017年06期

【摘要】：针对火炮链传动药仓在运动过程中存在负载非线性变化、抖振、参数不确定、非线性摩擦等问题,提出了一种自适应滑模控制策略.通过对系统等效转动惯量、扰动力矩等参数采取自适应估计,缓解了参数不确定性对模型的影响,使系统数学模型更加准确.采用新型双幂次趋近律降低切换过程中系统的抖振现象,并对趋近参数进行自适应在线选取,进一步提高了趋近过程和切换过程的鲁棒性.系统在不同负载下进行试验验证,结果表明,在该控制策略下,空载、半载、满载的链传动药仓均具有较好的稳定性和较高的控制精度,能够保证电机输出轴动态误差小于2.5 rad,稳定误差小于0.8 rad.
[Abstract]:An adaptive sliding mode control strategy is proposed to solve the problems of nonlinear load variation buffeting parameter uncertainty nonlinear friction and so on. Through adaptive estimation of the equivalent moment of inertia and disturbance moment of the system, the influence of parameter uncertainty on the model is alleviated, and the mathematical model of the system is more accurate. A new double power approach law is used to reduce buffeting in the switching process, and adaptive on-line selection of approach parameters is carried out, which further improves the robustness of the approach process and the handover process. The system is tested under different loads. The results show that the chain transmission charge bin with no load, half load and full load has better stability and higher control precision under the control strategy. It can ensure that the dynamic error of motor output shaft is less than 2.5 radand the stability error is less than 0.8 rad.
【作者单位】：南京理工大学机械工程学院;北方自动化技术研究所;
【基金】：国家自然科学基金资助项目(11472137) 江苏省自然科学基金资助项目(BK20140773)
【分类号】：TJ303;TP273

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