火炮身管指向控制中的非线性问题研究
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摘要
轮式自行火炮适应当代战争和非战争军事行动的需求得以快速发展,该火炮武器系统对火力的精确度和反应速度要求极高,不断改进的火力控制系统是实现该技术要求的保障之一。虽然当前先进的光电技术和计算机技术大幅提升了火力控制系统的性能,但是位于火控系统末端的火炮身管指向受控动力系统,潜在其中的耦合、非线性及不确定性等多种复杂动力因素仍制约着整个武器系统性能的进一步提升。因此,针对这一问题开展研究工作对于完善该类武器系统性能和满足当代军事行动需求具有重要意义。
本文重点研究了炮塔-火炮控制通道耦合设计的方法和理论,并用以解决火炮身管指向控制中的非线性问题,论文的主要研究成果包括：
1、提出并初步建立了炮塔-火炮控制通道耦合设计的方法和理论。基于炮塔-火炮物理系统的实际结构特征和运动特性,应用拉格朗日能量法建立了炮塔-火炮动力系统的标称非线性耦合动力学模型；基于状态空间分析法和非线性系统的反馈线性化技术,为火炮身管指向控制设计了轴间耦合的PD控制器,并应用李亚普诺夫稳定性理论证明了炮塔和火炮能够实现对火控指令渐进稳定跟踪。
2、分析了火炮身管指向高低与方位轴间动力耦合给轴间耦合PD控制带来的两方面问题,即受控系统的初始动态特性问题和控制实时性问题。提出了火炮身管指向的综合自适应控制方法,使火力跟踪控制初始阶段,火炮高低和方位向实际轨迹相对于指令轨迹超调量减小、收敛时间缩短、振荡次数减少,这极大提高了火炮身管指向动作的快速性和准确性。提出了火炮身管指向的任务空间控制方法,不仅使火力跟踪控制时的计算复杂度降低,增强了控制实时性,而且提高了火炮身管指向动作稳态时的跟踪精度。
3、分析了火炮身管指向高低与方位传动轴柔性对火炮身管指向控制的影响,即一方面影响火炮身管指向受控系统的稳定性,另一方面增加了系统独立状态数目使控制复杂性增强,且增加了对传感器配置数量的需求。提出了火炮身管指向的最优反馈线性化控制方法,抑制了传动轴柔性造成的电机轴和负载轴状态的波动,同时消除了传动轴上的柔性振动。提出了火炮身管指向控制时的线性随机观测器设计方法,不仅有效消除了传感器噪声对火炮身管指向时位置控制精度影响,还取消了对电机轴状态的传感器测量需求,降低了系统硬件配置成本。
4、分析了火炮身管指向系统动力参数摄动、外部冲击扰动等不确定动力因素对火炮身管指向控制的影响,即不确定动力特性使基于标称模型设计的控制器的实际控制效果变差。提出了火炮身管指向的线性滑模补偿控制方法和非奇异终端滑模控制方法,有效消除了不确定性动力因素的影响,并使火炮身管指向控制的稳动态性能均得到改善。提出了火炮身管指向的神经滑模控制方法,不仅进一步改善了火炮身管指向控制的稳动态性能,而且能够自动适应系统不确定动力特性的变化,有效消除控制输入中的抖动现象,为火炮身管指向提供高性能控制方案。
The wheeled self-propelled artillery, which owns high accuracy of fire and quick fire response, will meet the requrement of the contemporary war and non-war military operations. The technology requirement will be achieved by improving fire control system. Although the performance of fire control system has been enhenced by the advanced photovoltaic and computer technology, the coupling, nonlinear and uncertain dynamic factors in the pointing control of gun barrel of the fire control system still constrain severely the performance of the entire weapon system.Therefore, it's important to solve these problems for improving the performance of such weapon systems and meeting the requrement of the military operations.
This dissertation studies the method and theory of the coupling-channels analysis and design of pointing control of gun barrel, which will solve the aforementioned problems. The main contributions are listed as follows:
1. The method and theory of the coupling-channels analysis and design of pointing control of the gun barrel are suggested and constructed initially. The gun-turret coupling dynamic nominal model is developed by Lagrange equation. An axis-coupled PD controller is proposed for the pointing control of gun barrel by the feedback linearization techniques and the stability of the controlled system is proven by Lyapunov function.
2. The problems on the dynamic coupling of the elevation-azimuth axes in the pointing control of gun barrel are analyzed. A composite self-adapting control scheme is proposed for the pointing control of gun barrel. This approach improves initial dynamical performance of tracking control of fire, and ensures accuracy of fire and quick fire response. A task space control scheme is also proposed for the pointing control of gun barrel. The computational complexity of control algorithm is reduced and the real-time performance of the control system is enhanced by this method.
3. The problems on the flexibility of the elevation-azimuth transmission shafts in the pointing control of gun barrel are analyzed. An optimal feedback linearization control scheme is proposed for the pointing control of gun barrel. The fluctuated states of motor and load shafts, which are brought by the flexibility of transmission shafts, are restrained by this approach. A linear stochastic estimator is presented in order to estimate the high order states of the linearization system with the measurement noise and cancel sensors of motor shafts. Meanwhile, this approach achieves the exact and smooth tracking control on the fire command.
4. The problems on the uncertain dynamic performace of the dynamic parameters perturbation and external disturbance in the pointing control of gun barrel are analyzed. A linear sliding mode compensator and an improved nonsingular terminal sliding mode controller are proposed for the pointing control of gun barrel. They not only surpress the effects of the uncertainty of the dynamic system, and improve the steady and dynamic performace of the pointing congtrol of gun barrel. A neural sliding mode controller is also proposed for the pointing control of gun barrel. This method not only compensates the uncertainty automatically and eliminates the chattering in the control inputs, but also enhances further the steady and dynamic performace of the pointing congtrol of gun barrel.
本文重点研究了炮塔-火炮控制通道耦合设计的方法和理论,并用以解决火炮身管指向控制中的非线性问题,论文的主要研究成果包括：
1、提出并初步建立了炮塔-火炮控制通道耦合设计的方法和理论。基于炮塔-火炮物理系统的实际结构特征和运动特性,应用拉格朗日能量法建立了炮塔-火炮动力系统的标称非线性耦合动力学模型；基于状态空间分析法和非线性系统的反馈线性化技术,为火炮身管指向控制设计了轴间耦合的PD控制器,并应用李亚普诺夫稳定性理论证明了炮塔和火炮能够实现对火控指令渐进稳定跟踪。
2、分析了火炮身管指向高低与方位轴间动力耦合给轴间耦合PD控制带来的两方面问题,即受控系统的初始动态特性问题和控制实时性问题。提出了火炮身管指向的综合自适应控制方法,使火力跟踪控制初始阶段,火炮高低和方位向实际轨迹相对于指令轨迹超调量减小、收敛时间缩短、振荡次数减少,这极大提高了火炮身管指向动作的快速性和准确性。提出了火炮身管指向的任务空间控制方法,不仅使火力跟踪控制时的计算复杂度降低,增强了控制实时性,而且提高了火炮身管指向动作稳态时的跟踪精度。
3、分析了火炮身管指向高低与方位传动轴柔性对火炮身管指向控制的影响,即一方面影响火炮身管指向受控系统的稳定性,另一方面增加了系统独立状态数目使控制复杂性增强,且增加了对传感器配置数量的需求。提出了火炮身管指向的最优反馈线性化控制方法,抑制了传动轴柔性造成的电机轴和负载轴状态的波动,同时消除了传动轴上的柔性振动。提出了火炮身管指向控制时的线性随机观测器设计方法,不仅有效消除了传感器噪声对火炮身管指向时位置控制精度影响,还取消了对电机轴状态的传感器测量需求,降低了系统硬件配置成本。
4、分析了火炮身管指向系统动力参数摄动、外部冲击扰动等不确定动力因素对火炮身管指向控制的影响,即不确定动力特性使基于标称模型设计的控制器的实际控制效果变差。提出了火炮身管指向的线性滑模补偿控制方法和非奇异终端滑模控制方法,有效消除了不确定性动力因素的影响,并使火炮身管指向控制的稳动态性能均得到改善。提出了火炮身管指向的神经滑模控制方法,不仅进一步改善了火炮身管指向控制的稳动态性能,而且能够自动适应系统不确定动力特性的变化,有效消除控制输入中的抖动现象,为火炮身管指向提供高性能控制方案。
The wheeled self-propelled artillery, which owns high accuracy of fire and quick fire response, will meet the requrement of the contemporary war and non-war military operations. The technology requirement will be achieved by improving fire control system. Although the performance of fire control system has been enhenced by the advanced photovoltaic and computer technology, the coupling, nonlinear and uncertain dynamic factors in the pointing control of gun barrel of the fire control system still constrain severely the performance of the entire weapon system.Therefore, it's important to solve these problems for improving the performance of such weapon systems and meeting the requrement of the military operations.
This dissertation studies the method and theory of the coupling-channels analysis and design of pointing control of gun barrel, which will solve the aforementioned problems. The main contributions are listed as follows:
1. The method and theory of the coupling-channels analysis and design of pointing control of the gun barrel are suggested and constructed initially. The gun-turret coupling dynamic nominal model is developed by Lagrange equation. An axis-coupled PD controller is proposed for the pointing control of gun barrel by the feedback linearization techniques and the stability of the controlled system is proven by Lyapunov function.
2. The problems on the dynamic coupling of the elevation-azimuth axes in the pointing control of gun barrel are analyzed. A composite self-adapting control scheme is proposed for the pointing control of gun barrel. This approach improves initial dynamical performance of tracking control of fire, and ensures accuracy of fire and quick fire response. A task space control scheme is also proposed for the pointing control of gun barrel. The computational complexity of control algorithm is reduced and the real-time performance of the control system is enhanced by this method.
3. The problems on the flexibility of the elevation-azimuth transmission shafts in the pointing control of gun barrel are analyzed. An optimal feedback linearization control scheme is proposed for the pointing control of gun barrel. The fluctuated states of motor and load shafts, which are brought by the flexibility of transmission shafts, are restrained by this approach. A linear stochastic estimator is presented in order to estimate the high order states of the linearization system with the measurement noise and cancel sensors of motor shafts. Meanwhile, this approach achieves the exact and smooth tracking control on the fire command.
4. The problems on the uncertain dynamic performace of the dynamic parameters perturbation and external disturbance in the pointing control of gun barrel are analyzed. A linear sliding mode compensator and an improved nonsingular terminal sliding mode controller are proposed for the pointing control of gun barrel. They not only surpress the effects of the uncertainty of the dynamic system, and improve the steady and dynamic performace of the pointing congtrol of gun barrel. A neural sliding mode controller is also proposed for the pointing control of gun barrel. This method not only compensates the uncertainty automatically and eliminates the chattering in the control inputs, but also enhances further the steady and dynamic performace of the pointing congtrol of gun barrel.
引文
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