基于内模PID鲁棒控制的飞行仿真伺服系统设计

Design of Flight Simulation Servo System Based on Internal Model PID Robust Control

针对飞行仿真伺服系统高频响、宽调速、高精度、超低速和鲁棒性要求 ,提出了内模PID鲁棒控制的有效方法。在探讨伺服系统数学模型的基础上 ,推导出一种飞行仿真伺服系统的内模PID鲁棒控制律 ,并将其应用于某型飞行仿真伺服系统 ,该伺服系统采用了电流、速度和位置三闭环控制结构。仿真试验表明 :文中提出的内模PID鲁棒控制律使飞行仿真伺服系统获得了优良的跟踪性能 ,具有很强的抗干扰性和鲁棒性 ,可以很好地满足飞行仿真伺服系统的各项性能指标要求。

According to the high frequency response, wide speed control, super-low speed, high precision and strong robustness for flight simulation servo system, an effective internal model PID robust control scheme is proposed in this paper. Based on the discussion of mathematic model of servo system, the internal model PID robust control algorithm is derived and applied in a kind of flight simulation servo system. This servo system adopts three-closed-loop construction of current, speed and position. The simulation experiment results show that the internal model PID robust control scheme has excellent tracking performance, strong disturbance rejection ability and robustness. The proposed control scheme can meet the requirements of the flight simulation servo system very well.