Research on backstepping control of stabilizing-tracking system for self-propelled anti-aircraft gun with backlash nonlinearity compensation

含齿隙补偿的自行高炮稳定跟踪系统反步控制研究

Northwest Institute of Mechanical and Electrical Engineering, Xianyang 712099, China

Received: 19 July 2025

Abstract

In view of the backlash nonlinearity in the stabilizing-tracking system for self-propelled anti-aircraft gun, a backstepping control design method based on full-order terminal sliding-mode is proposed by considering the structural characteristics of the system and the dynamic load disturbance caused by the motion. The position loop signal of the system is unified in the geodetic coordinate system, the position feedback is calculated by using the equivalent closed-loop method, and the state space model of the stable tracking system with backlash is constructed with the approximate dead time function of backlash nonlinearity. Aiming at the problem that it is difficult to observe the disturbance torque at the load side, a finite time disturbance observer is designed to estimate it quickly and accurately with load acceleration. Based on the backstepping control theory and the chattering free full-order terminal sliding-mode method, a global backstepping controller is designed to make the error converge to the field near zero in finite time, and the uniform ultimate boundedness of the system is proved by Lyapunov method. The simulation results show that compared with PID control, the proposed method can effectively compensate the backlash nonli-nearity, significantly weaken the chattering phenomenon, and has higher pointing accuracy in stabilizing conditions.

摘要

针对自行高炮稳定跟踪系统内存在的齿隙非线性, 综合考虑了系统内部的结构特点与运动产生的动载荷干扰, 提出了一种基于全阶终端滑模的反步控制设计方法。将系统的位置环主令统一在大地坐标系下, 采用等效闭环方式解算位置反馈量, 引入了近似死区函数, 构建了含齿隙的稳定跟踪系统状态空间模型。针对负载侧干扰力矩难以观测的问题, 设计了有限时间干扰观测器, 结合负载加速度对其实现快速准确的估计。基于反步控制理论和无抖振全阶终端滑模方法设计了全局反步控制器, 使误差能在有限时间内收敛到零点附近邻域, 并应用Lyapunov方法证明了系统的一致最终有界性。仿真结果表明: 相较于PID控制, 所设计的方法能有效地补偿齿隙非线性, 显著削弱了抖振现象, 在稳定工况下拥有更高的指向精度。