东南大学学报（自然科学版）2017，Vol.47Issue(6)：1135-1140,6.DOI:10.3969/j.issn.1001-0505.2017.06.009
基于双幂次趋近律火炮链传动药仓自适应控制
Adaptive control for artillery chain driving powder based on double power reaching law
摘要
Abstract
Aimed at some problems that when the artillery chain driving powder system moved,wide variations of load,indefinite parameters,chattering,and nonlinear friction existed.An adaptive sliding mode control scheme was proposed to solve these problems.The equivalent moment of inertia and the disturbance torque of the system were adaptively estimated.In this way,the impact of parameter uncertainty was mitigated and the system mathematical model was more accurately.The chattering problem of the system was restrained by using a new double power reaching law.Parameters of the reaching law were selected online by using adaptive methods.The robustness of the reaching and switching processes was enhanced.Experimental verifications of the system under different loads were conducted.The results show that the artillery chain driving powder system has better stability and position accuracy by using the control scheme under three conditions,i.e.,empty-loaded,half-loaded and full-loaded ensuring that the output dynamic error of the motor is less than 2.5 rad and the steady state error is less than 0.8 rad.关键词
火炮链传动药仓/抖振/自适应控制/双幂次趋近律Key words
artillery chain drive powder/chattering/adaptive control/double power reaching law分类
信息技术与安全科学引用本文复制引用
岳才成,钱林方,陈龙淼,田灵飞,杨会东..基于双幂次趋近律火炮链传动药仓自适应控制[J].东南大学学报（自然科学版）,2017,47(6):1135-1140,6.基金项目
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). （11472137）
