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摘要: 针对制导弹药电动舵机伺服系统中存在的齿隙、不确定参数及外部干扰，提出一种基于反步法的全局模糊自适应控制方法.首先，综合考虑上述非线性因素，分析描述齿隙的近似死区模型，建立含齿隙弹载舵机的双惯量机电模型，并将其引入采用"三闭环"结构的伺服系统中，构建非线性系统的状态空间；然后，采用模糊逻辑系统对齿隙等非线性因素进行自适应逼近与补偿控制，通过反步递推构造全系统Lyapunov函数，并运用Lyapunov第二法证明了整个闭环系统最终一致有界.仿真实验表明：较经典PID控制，该方法能更有效地削弱齿隙引起的传动力矩抖振与振荡冲击，既保证了系统的跟踪速度与控制精度，对不确定参数与外部干扰也具有较强的鲁棒性.Abstract: A global fuzzy adaptive control method based on backstepping is proposed for the electro-mechanical actuator servo system of guided projectile, which contains backlash, unknown parameters and external interference. Firstly, with comprehensively considering the above nonlinear factors and analyzing approximate dead zone model that describes backlash, the double inertia electromechanical model with backlash of ammunition actuator was established. And with introducing the electromechanical model into servo system which adopts "three closed-loop" structure, the state space of nonlinear system is constructed. Then, the fuzzy logic system is adopted to adaptively approach, compensate and control nonlinear factors such as backlash. The whole system Lyapunov function is constructed through backstepping, and ultimately uniformly boundedness of the whole closed-loop system is proved by the Lyapunov second method. Finally, the simulation analysis shows that compared with the classical PID control, this method can weaken chattering and oscillating shock caused by backlash more effective, guarantee tracking speed and control accuracy of system, and possess stronger robustness to unknown parameters and external interference.
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Key words:
- Adaptive control /
- guided projectile /
- electro-mechanical actuator /
- backlash
1) 本文责任编委 刘艳军 -
图 3 大角度调转工况下伺服系统的响应曲线
Fig. 3 Response curves of servo system under the operating condition with large angle switching
图 4 大振幅正弦工况下伺服系统的响应曲线
Fig. 4 Response curves of servo system under the operating condition with large amplitude sinusoidal
表 1 控制器参数
Table 1 Parameters of controller
参数 数值 参数 数值 参数 数值 $ K_P $ 2350 $ K_I $ 25 $ K_D $ 5 $ \mu_1 $ 22 $ \mu_2 $ 27 $ \mu_3 $ 15 $ \eta_1 $ 0.1 $ \eta_2 $ 0.1 $ \delta_1 $ 0.01 $ \delta_2 $ 0.01 $ \gamma_1 $ 10 $ \gamma_2 $ 10 
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