Abstract
In order to achieve better motion accuracy and higher robustness of the shipborne rocket launcher position servo system driven by a permanent magnet synchronous motor (PMSM), a passivity‐based controller based on active disturbance rejection control (ADRC) optimized by improved particle swarm optimization‐back propagation (IPSO‐BP) algorithm is proposed in this paper. The convenient method of interconnection and damping assignment and passivity‐based control (IDA‐PBC) is adopted to establish the port controlled Hamiltonian system with dissipation (PCHD) model of PMSM. To further enhance the robustness and adaptability of traditional ADRC, an BP algorithm is introduced to on‐line update the proportional, integral, and derivative gains of ADRC. Furthermore, to improve the learning capability, the improved PSO algorithm is adopted to optimize the learning rates of the back propagation neural networks. The results of numerical simulation and prototype test indicate that the proposed IPSO‐BP‐ADRC‐PBC controller has better static and dynamic performance than the ADRC‐PBC and BP‐ADRC‐PBC controller with fixed learning rate.
Highlights
Due to the merits of strong firepower, high firing rate and far gunshot, shipborne rocket launchers are gaining more and more momentum as an indispensable and important oppressive armament in naval warfare [1, 2]
When the step response is affected by a 300 Nm step disturbance, the maximum deviation of the improved particle swarm optimization-back propagation (IPSO-back propagation (BP))-active disturbance rejection control (ADRC)-passivity-based control (PBC) control system is only about 41.0% of that of the BP-ADRC-PBC control system
In terms of tracking the location of random interference, under the same working conditions the tracking accuracy of the IPSO-BP-ADRC-PBC controller is improved by 40.4% compared to that of the BP-ADRC-PBC controller
Summary
Due to the merits of strong firepower, high firing rate and far gunshot, shipborne rocket launchers are gaining more and more momentum as an indispensable and important oppressive armament in naval warfare [1, 2]. With the development of nonlinear control theory, many advanced control theories have already been developed and applied to the position servo system of PMSM, like predictive functional control, sliding mode control, robust control, fuzzy-sliding mode control, adaptive control, recurrent Elman neural network, particle swarm optimization, and so on [15,16,17,18,19,20,21] These advanced control methods as mentioned above have the advantages and drawbacks, respectively. In order to achieve better motion accuracy and higher robustness of the shipborne rocket launcher position servo system, a passivity-based controller based on ADRC optimized by IPSO-BP algorithm for the shipborne rocket launcher is proposed in this article.
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