CN-116954076-B - Gun powder coordination arm self-adaptive sliding mode control method based on high-gain observer

CN116954076BCN 116954076 BCN116954076 BCN 116954076BCN-116954076-B

Abstract

The invention discloses a gun powder coordination arm self-adaptive sliding mode control method based on a high-gain observer, which comprises the steps of firstly establishing a mathematical control model of an gun powder coordination arm electromechanical servo, then estimating an unknown state of a gun powder coordination arm electromechanical servo system by adopting the high-gain observer, effectively tracking and compensating the unknown state on line, and designing a sliding mode controller to eliminate errors of the observed state, thereby realizing quick high-precision control of the gun powder coordination arm electromechanical servo system. Aiming at the high-frequency buffeting phenomenon in the sliding mode control process, a self-adaptive law is designed and combined with a sliding mode controller, so that buffeting of control quantity is greatly weakened. Simulation experiment results show that under the extreme working condition that the medicine delivery machine is filled with medicine, the control method has better dynamic tracking performance and robustness, and the in-place speed and accuracy of the medicine coordination arm are greatly improved.

Inventors

YIN QIANG
YIN ZHENGLIN
YANG LIU
CHEN LONGMIAO
ZOU QUAN

Assignees

南京理工大学

Dates

Publication Date: 20260512
Application Date: 20230721

Claims (5)

1. The gun powder coordination arm self-adaptive sliding mode control method based on the high-gain observer is characterized by comprising the following steps of: step 1, establishing a dynamic model of an electromechanical servo system of an gun powder coordination arm, and switching to step 2; Step 2, designing a high-gain observer based on a dynamic model of an artillery powder coordination arm electromechanical servo system, wherein the high-gain observer is specifically as follows: Let state variable matrix State variables State variables The state space equation of the system is obtained as follows: (14), Wherein, the Is a sliding mode controller and also a control quantity, As a function of the parameters of the system, As a function of the parameters of the system, As a function of the parameters of the system, Is used for coordinating the rotation angle of the arm (5); Function of Meets Lipschitz conditions, designs an observer as: (15), Wherein the method comprises the steps of And Respectively corresponding to represent And The estimated value is used to determine the value of the parameter, Is that Is used as a first derivative of (a), Is that Is used as a first derivative of (a), Is output by the system; And Are all the adjusting parameters of the observer; Is that Is a nominal model of (a); taking the observation error matrix of the high gain observer Wherein Is that Is used for the observation of errors in the (c), Is that Is a part of the observation error; then the formula (14) and the formula (15) are used to obtain: (16), Wherein, the Is that Is used as a first derivative of (a), Is that Is used as a first derivative of (a), For measuring noise; Due to modeling uncertainty First derivative matrix of observed error Formula (16) is rewritten as: (17), Wherein the constant matrix ; When not taking into consideration And v, if get Is negative, then , Gradual convergence, therefore And Is required to be valued by Meet Hurwitz; Taking out , Wherein the coefficients Sum coefficient of Is a positive real number, and the output is a real number, Is the observer bandwidth parameter and ; The expression of the high gain observer is: (18), Turning to step 3; step 3, designing an initial sliding mode controller by utilizing a dynamic model and a high-gain observer of an artillery powder coordination arm electromechanical servo system and combining a sliding mode function Turning to step 4; Step 4, substituting the self-adaptive law into the initial sliding mode controller Obtaining a final sliding mode controller u, and turning to step 5; and 5, realizing the rapid high-precision control of the electromechanical servo system of the medicine coordination arm by adjusting parameters of the sliding mode controller u through simulation.
2. The method for controlling the adaptive sliding mode of the gun powder coordination arm based on the high-gain observer according to claim 1, wherein in the step 1, a dynamic model of an electromechanical servo system of the gun powder coordination arm is established, specifically as follows: Step 1.1, constructing an artillery powder coordination arm electromechanical servo system: The gun powder coordination arm comprises a powder conveying machine (1), an electric cylinder (3), a gesture adjusting shaft (4), a coordination arm (5), a speed reducer (6), a servo motor (7) and a plurality of module powder (2), wherein the servo motor (7) is used as a coordination motor, and the electric cylinder (3) is used as a gesture adjusting electric cylinder; The first end of the coordination arm (5) is respectively connected with the gesture adjusting shaft (4) and the electric cylinder (3), the medicine conveying machine (1) swings around the gesture adjusting shaft (4) on the coordination arm (5) through the extension and retraction of the electric cylinder (3) so as to realize gesture adjusting action of the medicine conveying machine (1), the module medicine (2) is placed in the medicine conveying machine (1), 6 module medicines (2) are loaded in a full-load state, the second end of the coordination arm (5) is connected with the cradle fixing disc through the speed reducer (6), the speed reducer (6) is connected with the servo motor (7) fixed at the second end of the coordination arm (5), and the servo motor (7) drives the coordination arm (5) to rotate, so that the coordination action of the module medicine (2) is realized through the rotation of the coordination arm (5) and the gesture adjusting action of the medicine conveying machine (1). Step 1.2, establishing a mechanism motion diagram of an artillery powder coordination arm electromechanical servo system: The trunnion is point-jointed As the fixed pivot of the electromechanical servo system of the gun powder coordination arm, namely the rotation center of the electromechanical servo system of the gun powder coordination arm Is the front pivot point of the electric cylinder (3) Is a rear fulcrum of the electric cylinder (3), wherein the front fulcrum of the electric cylinder (3) Is hinged on the drug delivery machine (1), and the rear fulcrum of the electric cylinder (3) Is hinged on the arm body of the coordination arm (5) Is the center of rotation of the drug delivery machine (1), and is the mass center of the drug delivery machine (1) and the module drug (2) Is the centroid of the coordination arm (5); the rotation angle of the coordination arm (5) is set as The rotation angle of the drug delivery machine (1) relative to the coordination arm (5) is Load side torque is The electric cylinder (3) reaches the rotation center point Is the distance of (2) The electric cylinder (3) reaches the point Is the distance of (2) Dots (dot) To the point Is the distance of (2) Dots (dot) To the point Is the distance of (2) The mass of the coordination arm (5) is The mass of the medicine delivery machine (1) is The mass of the module medicine (2) is , 、 The telescopic force provided by the electric cylinder is provided, And Equal in size and opposite in direction; Step 1.3, when the servo motor (7) is used for controlling the position of the electromechanical servo system of the gun powder coordination arm, the characteristic of a current loop in the motor is ignored, a vector control method is adopted, and a control current is output Electromagnetic torque of a servo motor (7) The equation is: (1), wherein: the number of the magnetic pole pairs of the servo motor (7); Is rotor flux linkage; is a motor torque constant and equivalent to the torque at the load end The method comprises the following steps: (2), wherein: Is the transmission ratio of the speed reducer; the transmission efficiency of the speed reducer is achieved; step 1.4, selecting the whole gun powder coordination arm electromechanical servo system as an object with the degree of freedom of 2 And For generalized coordinates, the Lagrangian equation is rewritten into a general form because the gun powder coordination arm electromechanical servo system is acted by a non-potential force: (3), wherein: in the form of generalized coordinates, Is generalized acceleration; Representation of For a pair of Is used for the partial derivative of (a), Representation of For a pair of Is a partial derivative of (2); For a non-potential generalized force in the system, For Lagrangian function, t represents time and j represents the number of mass points in the system, wherein: (4), here, the Representing the kinetic energy of the system, Potential energy representing the system, for an artillery powder coordination arm electromechanical servo system, there are: (5), In the formula, In order to coordinate the kinetic energy of the arm (5), Is the kinetic energy of the drug delivery machine (1), Indicating that the coordinating arm (5) acts on the point The moment of inertia of the upper part of the body, Acts on the medicine feeder (1) Moment of inertia at the point, n is the number of module drugs (2); Is that Is the first derivative of (a); Is that G represents the gravitational acceleration; The lagrangian function here is obtained as: (6), the several parametric expressions for the Lagrangian equation in equation (6) are: (7), In the middle of Is that Is a second derivative of (2); Is that Is a second derivative of (2); The control moment applied by the end of the ear shaft to the coordination arm (5) is set as The control moment of the gesture-adjusting electric cylinder on the rotation center of the medicine delivery machine (1) is that Then: (8), Wherein, the Is the equivalent damping coefficient of the coordination arm (5); the generalized force in the electromechanical servo system of the gun powder coordination arm meets the following conditions: (9), Wherein, the And Are all non-potential generalized forces in the system, and the generalized coordinate virtual displacement of the coordination arm (5) is The angle virtual displacement of the coordination arm (5) is The generalized coordinate virtual displacement of the drug delivery machine (1) is The angle virtual displacement of the medicine delivery machine (1) is ; Substituting the formula (6), the formula (7), the formula (8) and the formula (9) into the formula (3) to obtain a kinetic equation of a mechanical part of the gun powder coordination arm electromechanical servo system, wherein the kinetic equation is as follows: (10), substitution of formula (2) into formula (10) yields: (11), further simplifying to obtain a kinetic model of the electromechanical servo system of the gun powder coordination arm: (12), in the above, system parameters System parameters System parameters The specific expression is as follows: (13)。
3. the method for controlling an adaptive sliding mode of an gun powder coordination arm based on a high gain observer according to claim 2, wherein in step 1, The value is 0.99.
4. The method for controlling an adaptive sliding mode of an gun powder coordination arm based on a high gain observer according to claim 2, wherein in step 3, an initial sliding mode controller is designed by utilizing a dynamic model of an electromechanical servo system of the gun powder coordination arm and the high gain observer and combining a sliding mode function The method is characterized by comprising the following steps: Let the desired angular displacement track be Angular displacement error of the system Taking a sliding mode function The method comprises the following steps: (19), Wherein, the Is that Is used as a first derivative of (a), Is a sliding mode coefficient, and Meets the Lawster-Hercules stability criterion, The system gradually stabilizes; from formula (14) and formula (19): (20), Wherein, the Is that Is used as a first derivative of (a), Is that Is a second derivative of (2); When (when) When in use, the equivalent control item of the electromechanical servo system of the gun powder coordination arm is obtained by combining the formula (14) and the formula (20) The expression of (2) is as follows: (21), Wherein the method comprises the steps of Is that Is used for the estimation of the (c), Is that Is the first derivative of (a); Is that Is used for the estimation of the (c), Is that Is the first derivative of (a); to ensure the final stability of the system, an initial sliding mode controller is designed The method comprises the following steps: (22), In the above-mentioned method, the step of, Equivalent control items of sliding mode control rate of an electromechanical servo system of the gun powder coordination arm; an index term of a sliding mode control law of an electromechanical servo system of the gun powder coordination arm; A switching item for sliding mode control, wherein, the index approach law parameter Greater q values are the faster the system tends to slide to the surface; In order to switch the gain of the term, The specific expression of the symbol function is as follows: (23)。
5. the method for controlling an adaptive sliding mode of an gun powder coordination arm based on a high gain observer according to claim 4, wherein in step 4, the adaptive law is substituted into the initial sliding mode controller The final sliding mode controller u is obtained, specifically as follows: Design of The adaptive law of (2) is as follows: (24), In the formula, For estimating gain of switching term Is used for the purpose of determining the derivative of (c), Is self-adaptive parameter, will Substituting into equation (22), the final sliding mode controller u is obtained as: (25), Wherein, the , Sliding mode function estimate Is that ; The sliding mode is taken to control Lyapunov function V as follows: (26), The method comprises the following steps: , Wherein the method comprises the steps of Is that Is used for the observation of errors in the (c), Is that Is a part of the observation error; Is that Is used for the observation of errors in the (c), Is that Is a part of the observation error; Is that Is a part of the observation error; And is also provided with , , , , ; Then (27), Wherein the method comprises the steps of Is that Is the first derivative of (a); Due to Then get I.e. the sliding mode controller u is stable and reliable in the sense of Lyapunov.

Description

Gun powder coordination arm self-adaptive sliding mode control method based on high-gain observer Technical Field The invention belongs to the field of electromechanical servo control, and particularly relates to an artillery powder coordination arm self-adaptive sliding mode control method based on a high-gain observer. Background The electromechanical servo system of the medicine coordination arm is used as one of the key technologies of the automatic gun filling system, and the in-place precision of the electromechanical servo system directly influences the gun firing speed. Therefore, the improvement of the control performance of the electromechanical system of the medicine coordination arm has important practical application value. However, because the electromechanical servo system of the gun powder coordination arm has strong nonlinearity and uncertainty, the gun powder coordination system still adopts a PID control strategy at present because high-performance control is difficult to realize. In the text of 'dynamics and control integrated modeling and analysis of a certain gun powder coordinator', a PID control strategy is adopted for a gun powder coordination arm, the maximum angle error in the final measurement coordination process is 0.34 degrees, although the movement process is stable, the angle error in the coordination process is difficult to control within the requirements of +/-0.1, meanwhile, the defects of difficult setting, weak capability of adapting to system parameter change and the like exist, and therefore, a control method with higher precision and quicker response is needed to meet the increasingly-growing control performance requirements of an electromechanical servo system of the gun powder coordination arm. Disclosure of Invention The invention aims to provide a gun powder coordination arm self-adaptive sliding mode control method based on a high-gain observer, and the self-adaptive law is introduced to weaken high-frequency buffeting of control quantity in the control process, so that the control precision of an gun powder coordination arm electromechanical servo system is improved. The technical scheme of the invention is that the gun powder coordination arm self-adaptive sliding mode control method based on the high-gain observer comprises the following steps of And 1, establishing a dynamic model of an electromechanical servo system of the gun powder coordination arm. And 2, designing a high-gain observer based on a dynamic model of an artillery powder coordination arm electromechanical servo system. And 3, designing an initial sliding mode controller u SMC by utilizing a dynamic model and a high-gain observer of an gun powder coordination arm electromechanical servo system and combining a sliding mode function. And 4, substituting the self-adaptive law into the initial sliding mode controller u SMC to obtain the final sliding mode controller u. And 5, realizing the rapid high-precision control of the electromechanical servo system of the medicine coordination arm by adjusting parameters of the sliding mode controller u through simulation. Compared with the prior art, the invention has the remarkable advantages that: (1) The method adopts a high-gain observer to realize the real-time online estimation of the unknown state of the electromechanical servo system of the drug coordination arm, and utilizes the high gain to amplify the state estimation error, thereby improving the precision and the robustness of the state estimation. (2) The high-gain observer and the sliding mode controller are organically combined, so that the observation error is overcome, and the stability of the system is ensured. (3) The self-adaptive law is combined with the sliding mode controller, so that the defect of high-frequency buffeting in the sliding mode control process is weakened. The invention is described in further detail below with reference to the accompanying drawings. Drawings FIG. 1 is a flow chart of a sliding mode control method of an artillery powder coordination arm electromechanical servo system based on a high gain observer. FIG. 2 is a block diagram of a sliding mode control method of an electromechanical servo system of an gun powder coordination arm based on a high gain observer. FIG. 3 is a schematic diagram of the electromechanical servo system of the gun powder coordination arm of the present invention. FIG. 4 is a schematic diagram of the movement of the electromechanical servo system of the gun powder coordination arm of the present invention. FIG. 5 is a diagram of the motion trace of the electromechanical servo system of the gun powder coordination arm in the invention. FIG. 6 is a graph of the current control of the electromechanical servo system of the gun powder coordination arm of the present invention. FIG. 7 is a graph of the position error of the electromechanical servo system of the gun powder coordination arm of the present invention. Detailed Description Refer