摘要
针对雷达伺服系统低速跟踪时摩擦力矩导致运行抖动并严重降低跟踪精度和平稳性的问题,提出了一种基于扩张状态观测器(ESO)的复合滑模控制策略。将摩擦力矩视为外部扰动,通过二阶扩张状态观测器对其估计并补偿。设计滑模控制律减小伺服系统的跟踪误差。在滑模控制律设计时引入非奇异终端滑模面,保证跟踪误差有限时间内收敛。运用Lyapunov理论分析闭环系统的稳定性。仿真结果验证了所提控制算法的有效性。
The friction moment often leads to operating disturbances when targets are tracked at a low speed for radar servo system, which has a strong impact on the tracking accuracy and stability. In view of this, a composite sliding-mode control strategy is proposed based on the extended state ob- server （ESO）. With friction moment regarded as the external disturbances, the sliding-mode control is estimated and compensated through the two-order ESO. The sliding-mode control law is designed to reduce the tracking error of the servo system. The nonsingular terminal sliding-mode surface is in- troduced into the design of the sliding-mode control law to ensure the finite-time convergence of the tracking error. The stability of the closed loop system is analyzed simulation results verify the effectiveness of the control algorithm. through the Lyapunov theory. The
出处
《雷达与对抗》
2016年第1期60-63,共4页
Radar & ECM
