Output feedback proportional differential implicit Lyapunov control for chain-driven rotary shell magazine with uncertainties in load and vehicle tilt angle
摘要
The shell magazine makes it difficult to deliver ammunition to the predetermined position quickly and accurately under different loads and vehicle tilt angles. Furthermore, the velocity of the shell magazine remains unmeasurable, constituting an additional challenge. Therefore, in order to solve the above problem, this paper proposed the output feedback proportional differential implicit Lyapunov control (OFPDIL), which for the first time combines implicit Lyapunov control (IL) and linear extended state observer (LESO). Furthermore, OFPDIL introduces an online adaptive gain adjustment strategy based on the implicit Lyapunov function, which improves the convergence speed of the controller. Firstly, OFPDIL constructs an online velocity state observer, which estimates the velocity of the shell magazine online by the position signal output from the encoder. This approach avoids the use of the encoder differential signal, which contains noise. Secondly, OFPDIL solves the problem of load uncertainty and external disturbance by using LESO to estimate the external disturbance and perform feed-forward compensation online. Finally, two groups of experiments about different loads and different vehicle tilt angles verify the superior performance of the OFPDIL in terms of control accuracy, positioning time, and robustness. In case 1.1, OFPDIL reduces the positioning time by 11.2%, 49.5%, and 26.8% compared to IL, OFPD, and PID, respectively. The steady-state errors of the four controllers, OFPDIL, IL, OFPD, and PID, are