基于反馈线性化和变结构控制的速度饱和伺服系统设计

The Design of Velocity Saturation Servo System Based on Feedback-Linearization and Variable Structure Control

在大姿态角飞行条件下火箭的伺服机构速度饱和非线性特性相当突出,对火箭姿态控制系统稳定性影响很大,利用小扰动理论对其分析起来比较困难。本文采用输入/输出线性化方法对伺服机构的速度饱和数学模型进行了精确线性化,并在此基础上对线性化系统进行了变结构控制设计,得到了具有鲁棒性的非线性伺服系统控制器。最后,通过数字仿真实例验证了所述方法的有效性。

The Non-linear of velocity-saturation of the servo-system is very obviously for great attitude fly of the rocket, which take the great influence of the stability of the rocket＇s attitude control system. There is difficulty we analysis the non-linear of velocity-saturation of the servo-system with the small-perturbation Theory. So, we accurately hnearize the model of velocity-saturation of the servo-system with the method of input-output feedback-linearization, and then the variable structure control is used for the linearization system. In this way, we obtain the robust controller of nonlinear Servo-system. Finally, the simulation results show this means is effective.