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针对存在参数摄动、冲击力矩大的火箭炮位置伺服系统的控制问题,建立了火箭炮位置伺服系统的机电耦合模型,基于扩张状态观测器提出了一种反步控制策略。该方法运用扩张状态观测器以实时估计控制系统的外界负载扰动,选择合适的Lyapunov函数,得到了使系统跟踪误差有界的调整策略。仿真和试验结果表明,该方法不仅保证了系统的静、动态特性,而且对参数摄动具有较强的鲁棒性。研究结果为进一步完善控制器理论结构及实践应用提供了参考依据。
Aiming at the control problem of rocket position servo system with parameter perturbation and high impact moment, a model of electromechanical coupling of rocket launcher servo system is established. A backstepping control strategy is proposed based on dilatation observer. This method uses an extended state observer to estimate the external load disturbances of the control system in real time. The suitable Lyapunov function is selected to get the adjustment strategy to make the tracking error of the system bounded. Simulation and experimental results show that this method not only guarantees the static and dynamic characteristics of the system, but also has strong robustness to parameter perturbations. The results provide a reference for further improving the theoretical structure of the controller and its practical application.