摘要
针对旋转火箭弹非线性动力学系统中存在大量的非线性、多变量耦合及参数不确定等特点,提出一种改进非线性干扰观测器,对高频运动的干扰逼近特性进行观测,结合反演滑模控制,设计反演滑模控制器,并证明了系统的稳定性。最后通过仿真对传统观测器与改进观测器的性能进行比较,仿真结果表明,改进观测器具有较高的估计精度和较强的鲁棒性。
In view of the serious nonlinearity the multivariable coupling and parameter uncertainty in the nonlinear dynamic system of rotating rocket projectiles an Improved Nonlinear Dis turbance Observer(INDO)is proposed to observe the approximating feature of the disturbance of high-frequency motion.A backstepping sliding mode controller is designed by combining with the backstepping sliding mode control.And the stability of the system is proved.Finally the performance of the Traditional Nonlinear Disturbance Observer(INDO)is compared with that of the improved observer.The simulation results show that the improved observer has higher estimation accuracy and stronger robustness.
作者
程永珩
王良明
傅键
CHENG Yongheng;WANG Liangming;FU Jian(School of Energy and Power Engineering Nanjing University of Science and Technology,Nanjing 210094 China)
出处
《电光与控制》
CSCD
北大核心
2021年第3期13-17,共5页
Electronics Optics & Control
基金
国家自然科学基金(6160319161603189)
国家重点科学基金(614260403010117)。
关键词
旋转火箭弹
干扰
改进干扰观测器
反演:滑模控制
rotating rocket projectile
disturbance
improved disturbance observer
backstepping
sliding mode control
