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.
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.
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