摘要
为解决三轴飞行仿真转台的非线性摩擦问题,该文首先分析了转台中的非线性参数摩擦模型的特性,并将其线性化,得到线性化动态状态变化摩擦模型。其次,采用分解控制算法对不同类型的摩擦分别设计摩擦补偿器,然后综合出整体的控制率。其中常规控制器用来补偿名义模型;自适应补偿器用来补偿可参数化摩擦模型;鲁棒补偿器用来补偿非参数化摩擦模型。最后,分析和仿真研究表明:该摩擦补偿方法有效可靠。
In order to solve the nonlinear friction of flight motion simulator, a nonlinear friction model is analyzed and linearized. The linear dynamic state variable friction model is deduced. Secondly, a decomposition control scheme is proposed. Different friction compensation methods are designed aimed at different types of friction. The whole control law is thus concluded, of which a nominal control term compensates for the nominal model, an adaptive compensator compensates for parametric friction, and a robust compensator compensates for non - parametric friction. Lastly, analysis and simulation have confirmed：the friction decomposition control scheme is effective and credible.
出处
《计算机仿真》
CSCD
2006年第7期275-279,共5页
Computer Simulation
关键词
摩擦模型
分解控制
自适应控制
鲁棒控制
Friction model
Decomposition control
Adaptive control
Robust control
