基于超稳定理论的三轴台自适应控制研究

Research on Adaptive Control for Three-axle Turntable Based on Hyper-stability Theorem

针对三轴转台电控伺服系统中的非线性、参数时变性、转台的快速性和大时变负载干扰,控制器用Popov超稳定性和正性理论进行设计,设计的信号综合并联自适应模型跟随控制器可解决系统在运行过程中参数发生变化对控制性能影响的问题。仿真结果表明,该方法能有效抑制参数扰动及外力干扰,保证系统快速性要求,并具有很好的鲁棒性。

For the nonlinearity and time variable parameters and the speediness request and the unknown disturbances of a three-axle table, a control design of signal intergration parallel structure adaptive model following controller based on Popov hyper-stability theorem and positivity concept was addressed. The method can solve the problem of the influenced control performance because the parameters are variable during the operation of turntable, and the designed controller can moderate the unknown and time-varying external load disturbance effectively. The simulation results show that this approach satisfies the speediness request of simulator and has much robustness.