应用干扰观测器的导弹发射车起竖装置鲁棒控制

doi:10.3969/j.issn.0255-8297.2014.03.014

应用科学学报 ›› 2014, Vol. 32 ›› Issue (3): 319-324.doi: 10.3969/j.issn.0255-8297.2014.03.014

应用干扰观测器的导弹发射车起竖装置鲁棒控制

朱成，陈谋

南京航空航天大学自动化学院，南京210016

收稿日期:2013-10-28 修回日期:2013-12-24 出版日期:2014-05-31 发布日期:2013-12-24
作者简介:陈谋，博士，教授，研究方向：非线性系统控制及应用，E-mail:chenmou@nuaa.edu.cn
基金资助:
国家自然科学基金(No.61174102)；江苏省自然科学基金(No.SBK20130033)；江苏省六大高峰人才项目基金(No.2012-XXRJ-010)；教育部博士点基金(No.20133218110013)资助

Robust Control of Missile Launch Vehicle Erecting Device Based on Disturbance Observer

ZHU Cheng, CHEN Mou

College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Received:2013-10-28 Revised:2013-12-24 Online:2014-05-31 Published:2013-12-24

摘要/Abstract

摘要： 针对现有垂直导弹发射车起竖装置的起竖平稳性不足和快速性不够的问题，对起竖装置的运动学部分和液压部分进行建模，在此基础上利用backstepping方法实现起竖角的精确控制. 由于系统存在着建模不确定性误差和未知外部干扰，运用径向基神经网络干扰观测器对其进行估计，并将估计输出应用于起竖角的控制，从而提高了系统控制精度. 仿真结果表明，所设计的基于径向基神经网络干扰观测器导弹发射车起竖装置backstepping控制器具有良好的动态特性和强鲁棒性.

关键词: 导弹发射车, 起竖装置, 神经网络干扰观测器, backstepping控制

Abstract: To deal with the loss of stability and quickness in the vertical device of a missile launch vehicle, this paper models the kinematics and hydraulic system. With the established model, precise control of the vertical angel is designed using the backstepping control technique. To model uncertainties and unknown external disturbances, a radial basis function (RBF) neural network disturbance observer is developed. Control precision of the system is improved by using output of the RBF neural network disturbance observer. Simulation results show that good dynamic performance and strong robustness can be obtained under backstepping control of missile launch vehicle erecting device based on the neural network disturbance observer.

Key words: missile launch vehicle, erecting device, neural networks disturbance observer, backstepping control

中图分类号:

TP183
E926.4

朱成，陈谋. 应用干扰观测器的导弹发射车起竖装置鲁棒控制[J]. 应用科学学报, 2014, 32(3): 319-324.

ZHU Cheng, CHEN Mou. Robust Control of Missile Launch Vehicle Erecting Device Based on Disturbance Observer[J]. Journal of Applied Sciences, 2014, 32(3): 319-324.

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应用干扰观测器的导弹发射车起竖装置鲁棒控制

Robust Control of Missile Launch Vehicle Erecting Device Based on Disturbance Observer

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