摘要
导引头伺服系统是一种高精度伺服系统,工作过程中易受到摩擦力矩、风阻力矩等干扰。为提高伺服系统抗干扰性能,保证系统跟踪精度,提出一种将干扰观测器与反步法相结合的复合控制方法。该方法将干扰力矩未精确建模部分等效为外界集总干扰,采用干扰观测器来观测出系统中的等效干扰并在自适应反步控制律中进行补偿,实现对参考指令的跟踪。仿真结果表明,所提出的方法可以快速实现对参考指令的跟踪,提高了系统的抗干扰能力,可有效抑制导引头伺服系统中的干扰。
The servo system of the seeker is a high-precision servo system that is susceptible to frictional torque,wind resistance torque and other disturbances during operation.In order to improve the anti-disturbance performance of the servo system and ensure the tracking accuracy of the system,a composite control method combining the disturbance observer and the backstepping control method is proposed.In this method,the part of the disturbance torque that is not accurately modeled is equivalent to the external lumped disturbance.The disturbance observer is used to observe the equivalent disturbance in the system and compensate in the adaptive backstepping control law to realize the tracking of the reference command.The simulation results show that the proposed method can quickly track the reference command,improve the anti-disturbance ability of the system,and can effectively suppress the disturbance in the servo system of the seeker.
作者
文永
孙瑞胜
卢庆立
李文强
张晓赛
Wen Yong;Sun Rui-sheng;Lu Qing-li;Li Wen-qiang;Zhang Xiao-sai(Nanjing University of Science&Technology,Nanjing,210094;China Academy of Launch Vehicle Technology,Beijing,100076)
出处
《导弹与航天运载技术》
CSCD
北大核心
2020年第3期68-75,共8页
Missiles and Space Vehicles
关键词
干扰观测器
自适应反步法
指令滤波器
导引头伺服
摩擦
disturbance observer
adaptive backstepping control
command filter
servo system of the seeker
friction
