南京理工大学学报（自然科学版）2025，Vol.49Issue(6)：690-699,10.DOI:10.14177/j.cnki.32-1397n.2025.49.06.007
基于奇异摄动法的某火炮药协调臂的位置控制研究
Research on position control of an artillery gunpowder coordination arm based on singular perturbation method
Wang Rongce 1Zou Quan 1Wang Tian1
作者信息
- 1. School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China
- 折叠
摘要
Abstract
To enhance the position control accuracy of an artillery gunpowder coordination arm and suppress vibrations caused by joint flexibility,this paper employs singular perturbation theory combined with the integral manifold method to decompose the rigid-flexible coupling gunpowder coordination arm system into fast and slow subsystems,for which dedicated controllers are designed respectively.To address unmodeled disturbances under system coupling,dual cascaded extended state observers are designed to achieve accurate estimation of both the driving torque and disturbances.Furthermore,a novel reaching law is adopted to separately design the controllers:a slow subsystem controller for position tracking and a fast subsystem controller for oscillations suppression.Experimental results demonstrate that,compared with a simplified controller without the fast subsystem,the proposed fast subsystem controller designed in this paper significantly suppresses oscillations caused by joint flexibility,with the variance of position fluctuations reduced by over 50%under all tested conditions.In comparison to a traditional singular perturbation proportional-integral-derivative(PID)controller,the complete singular perturbation controller proposed in this paper exhibits superior performance in positioning accuracy,fluctuation stability,and load adaptability under various operating conditions.Its positioning accuracy is controlled within 0.06°,with an error variation of only 0.012°,and the fluctuation variance is significantly reduced,resulting in superior overall performance.关键词
药协调臂/奇异摄动理论/柔性关节/振动抑制/扩张状态观测器Key words
gunpowder coordination arm/singular perturbation theory/flexible joint/vibration suppression/extended state observer分类
信息技术与安全科学引用本文复制引用
Wang Rongce,Zou Quan,Wang Tian..基于奇异摄动法的某火炮药协调臂的位置控制研究[J].南京理工大学学报（自然科学版）,2025,49(6):690-699,10.
