针对坦克炮控系统低速运行时存在“爬行”、振荡等现象, 提出一种基于干扰观测器的滑模变结构控制策略。研究了坦克炮控系统电流、转速双闭环数学模型, 设计了滑模变结构控制器。对控制律中时变的负载转矩和摩擦转矩, 设计干扰观测器进行实时观测。仿真结果表明, 该控制策略既解决了坦克炮控系统低速运行时的“爬行”、振荡现象, 又削弱了由于建模不确定性而存在的滑模抖振现象。

To solve the problem of “creeping” and oscillation when the tank gun controlling system operates at a low speed, a strategy of sliding-mode variable structure control based on the disturbance observer is proposed. The double closed-loop mathematical model of the current and rotary speed of the tank gun-controlling system is studied, and the sliding-mode variable structure controller is designed. A disturbance observer is designed to observe the time-varying load torque and friction torque in the control law. The simulation results show that the control strategy can not only solve the problem of “creeping” and oscillation when the tank gun controlling system operates at a low speed, but also weaken the chattering of the sliding mode caused by the modeling uncertainty.