火箭炮自动操瞄系统包含俯仰/方位子系统,两子系统联动时存在轴间耦合非线性力矩,影响到系统的控制精度,甚至使得系统发散。针对上述特性,对系统进行输入输出解耦线性化,并在此基础上引入动态滑模控制方法,设计火箭炮操瞄系统位置控制器,实现火箭炮高精度操瞄。文中仿真对比了传统滑模与动态滑模控制方法的控制特性,结果表明,动态滑模控制方法优于传统滑模控制方法,能够高精度、快速平稳的实现自动跟踪。

The automatic aiming system of rocket launcher is divided into two subsystems, one is elevation sub-system, and the other is azimuth sub-system. There is coupling nonlinear torque between two subsystems when acting together, which can influence the accuracy of the control, even causes system divergence. In view of these characteristics, the system was made input-output decoupling linearization approximate. On this basis, a dynamic sliding mode control approach was presented to design position controller for precise aiming. Finally, simulation was performed for the comparison study of the classic sliding control and the dynamic sliding control. The results show that the proposed approach is superior to the traditional sliding mode, can realize accurately, rapidly and smoothly automatic tracking .