【目的】针对装甲观瞄云台在复杂越野工况下,易受强扰动与突发负载冲击而导致多电机协同失步的问题,本文提出一种基于自抗扰控制(ADRC)与高斯自适应偏差耦合的控制策略。【方法】在单轴电机的底层速度环引入ADRC,将系统内部的参数变化与外部的瞬间冲击统一视为总扰动进行主动补偿,从而提升单电机的抗干扰能力与响应速度。针对传统固定增益协同控制过于死板、易导致多电机间相互耦合的缺陷,设计了基于高斯函数的自适应协同调节器。该机制在平台进行常规空间运动时,通过构建平滑死区从而包容非对称运动的自然相位滞后,并在突发强载冲击时利用高斯函数的阶跃特性瞬时激发高协同刚度,实现多轴间的动态比例配合与减速退让。【结果】仿真结果表明,与传统的固定增益方法相比,本文所提策略在同等变负载工况下将瞬态最大协同误差降低了60%,系统在受扰后恢复稳定的时间缩短了40%~66.7%。【结论】本文所提控制策略有效兼顾了系统稳态运行的平滑性与极端冲击工况下的抗扰鲁棒性,为高动态并联稳定平台的协同控制提供了可靠的理论与应用参考。

[Objective] To address the issue of multi-motor coordination failure in armored vehicle observation platforms caused by strong disturbances and sudden load impacts under complex off-road conditions, this paper proposes a control strategy based on active disturbance rejection control (ADRC) and Gaussian adaptive deviation coupling. [Methods] ADRC was introduced into the bottom speed loop of the single-axis motor, and both internal parameter variations and external instantaneous shocks were treated as a total disturbance for active compensation, thereby enhancing the anti-disturbance capability and response speed of the individual motor. To address the rigidity of traditional fixed-gain cooperative control and its tendency to cause inter-motor coupling, an adaptive cooperative regulator based on a Gaussian function was designed. During routine spatial motion of the platform, a smooth dead zone was constructed to accommodate the natural phase lag of asymmetric movement. Conversely, upon sudden strong load impact, the step characteristics of the Gaussian function were leveraged to instantaneously excite high cooperative stiffness, achieving dynamic proportional coordination and deceleration yielding among the multiple axes. [Results] Simulation results showed that, compared with traditional fixed-gain methods, the transient maximum cooperative error was reduced by 60% under equivalent variable load conditions, and the time for the system to recover stability after disturbance was shortened by 40% to 66.7%. [Conclusion] The control strategy proposed in this paper effectively reconciles the smoothness of the system during steady-state operation with its disturbance rejection robustness under extreme impact conditions, providing a reliable theoretical and practical reference for the cooperative control of high-dynamic parallel stabilization platforms.