STATE OBSERVER OF THE COMBAT VEHICLE ELECTRIC DRIVES

Abstract

The paper substantiates the use of adaptive state observers of combat vehicles guiding electric drives instead of imperfect rotation speed sensors of executive motors, as which tachogenerators are traditionally used. The synthesis is carried out, the structure and mathematical description of the Luenberger observer of the direct current executive motor with independent excitation by the modal method are obtained. The performance of the synthesized observer is confirmed by checking the fulfillment of the observability condition. An expression for determining the geometric mean root, which makes it possible to simplify the structure of the observer and to evaluate not only the rotation speed, but also the load torque on the motor shaft is proposed. For definite structure of the observer, expressions for the coefficients of the Luenberger matrix are obtained. The modernized Luenberger observer was studied by simulation in the Matlab/Simulink environment. The parameters of the DC executive motor D-135 of the vertical guidance system of the 9K35 anti-aircraft missile system were used as the initial data of the model. The simulation results with the accepted binomial distribution of the roots of the characteristic polynomial proved the efficiency of the proposed structure of the observer. The estimation of the electric drive coordinates occurred aperiodically, without fluctuations, however, it had a relatively large error due to the underestimated speed of the observer. To eliminate this shortcoming, the distribution of the roots of the characteristic polynomial of the observer according to the Chebyshev linear form was proposed. With this distribution of roots, the performance of the Luenberger observer increased significantly, which limited the error in tracking the coordinates of the electric drive to 4%. The prospects for further research of the proposed method for the synthesis of state observers of the executive motors of the combat vehicles guidance systems are outlined. Keywords: Luenberger observer, executive motor, guidance system, combat vehicle.