International Journal of Control, Automation, and Systems 2023; 21(9): 2867-2878
https://doi.org/10.1007/s12555-022-0254-x
© The International Journal of Control, Automation, and Systems
Traditional counter-recoil machines always have problems of difficulty in adjusting the movement process flexibly, maintenance difficulties, and so on. To end these, this paper proposes a new electromagnetic counterrecoil scheme using cylindrical linear motors. Firstly, the mathematical expression of counter-recoil movement under the linear motor is formulated, and the ideal movement trajectory is designed using the piecewise polynomial of velocity based on acceleration. To obtain a better performance, of the motor controller, a composed approach of an adaptive sliding mode control based on barrier function (BFASMC) and the finite-time disturbance observer (FTDO) is introduced into the modeling and computation. The stability of the controller is proved by establishing the Lyapunov function. The new adaptive laws based on the barrier function effectively make up for the shortcomings of the exponential function and improves control chattering. At last, the new scheme is simulated. The results show that it has a strong robustness and anti-interference ability.
Keywords Adaptive sliding mode control, artillery counter-recoil, electromagnetic counter-recoil, linear motor, trajectory planning.
International Journal of Control, Automation, and Systems 2023; 21(9): 2867-2878
Published online September 1, 2023 https://doi.org/10.1007/s12555-022-0254-x
Copyright © The International Journal of Control, Automation, and Systems.
Wenbin Yu, Guolai Yang*, Liqun Wang, Lei Li, and Hongyi Zhang
Nanjing University of Science and Technology
Traditional counter-recoil machines always have problems of difficulty in adjusting the movement process flexibly, maintenance difficulties, and so on. To end these, this paper proposes a new electromagnetic counterrecoil scheme using cylindrical linear motors. Firstly, the mathematical expression of counter-recoil movement under the linear motor is formulated, and the ideal movement trajectory is designed using the piecewise polynomial of velocity based on acceleration. To obtain a better performance, of the motor controller, a composed approach of an adaptive sliding mode control based on barrier function (BFASMC) and the finite-time disturbance observer (FTDO) is introduced into the modeling and computation. The stability of the controller is proved by establishing the Lyapunov function. The new adaptive laws based on the barrier function effectively make up for the shortcomings of the exponential function and improves control chattering. At last, the new scheme is simulated. The results show that it has a strong robustness and anti-interference ability.
Keywords: Adaptive sliding mode control, artillery counter-recoil, electromagnetic counter-recoil, linear motor, trajectory planning.
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