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针对一类坦克炮控伺服系统,充分考虑系统中的未知齿隙非线性及摩擦非线性,将这些未知非线性的影响表示成有界扰动项与未知非线性动态项之和,借助ARC(自适应鲁棒控制)的思想设计控制器,当未知非线性动态项为零时,控制器即为自适应控制器,保持系统稳定的同时实现对参考信号的精确跟踪,而当系统存在未知非线性动态项时,控制器具有很好的鲁棒性,保持系统所有信号有界的同时实现对参考信号的误差跟踪,且跟踪误差可以由设计参数的取值设定来任意调节,与现有结果相比,控制器的设计建立在充分考虑系统未知非线性的影响之上,从而避免了简单的把未知非线性影响简单的考虑成系统“总扰动”所造成的被控系统性能的损失。
Considering the unknown backlash nonlinearity and frictional nonlinearity in a class of tank gun control servo system, these unknown nonlinear effects are expressed as the sum of bounded disturbances and unknown nonlinear dynamic terms. With ARC Adaptive robust controller). When the unknown nonlinear dynamic term is zero, the controller is an adaptive controller, which keeps the system stable while tracking the reference signal accurately. However, when the system has unknown nonlinearity When the dynamic term, the controller has good robustness, keep all the signals of the system bounded and meanwhile track the error of the reference signal, and the tracking error can be arbitrarily adjusted by setting the value of the design parameters. Compared with the existing results In contrast, the design of the controller is based on the consideration of the influence of the unknown nonlinearity of the system, so as to avoid simply considering the unknown nonlinear effect as the loss of the controlled system caused by the system “total disturbance” .