基于自适应反推滑模控制的虚拟转台样机研究

Research on Virtual Flight Motion Simulator Based on Adaptive Backstepping Slide Controller

针对传统转台串行设计模式存在的缺陷,基于虚拟样机技术、自适应滑模控制器与有限元等技术作为支持,提出了虚拟仿真转台的系统构想。其中针对实际转台系统的未知非线性、外界干扰和参数摄动等不确定因素的影响,设计并实现一类自适应滑模控制器进行虚拟转台系统的实时控制。同时,通过ADAMS软件平台实现了虚拟转台样机系统及其功能,并将自适应滑模控制器调入虚拟转台样机,最终实现机械模型和控制方法进行联合仿真分析,获得最终虚拟转台的特性。仿真结果表明,虚拟转台样机的设计与实现大大提高了转台的设计效率,为后续转台的控制系统调试提供强大的技术支持。

As for the design of traditional flight motion simulator, which is a serial mode, reliable controller function can not be supervised during the design, manufacturing and assembling procedures with the shortages of simulation analysis in advance. Consequently, Virtual Flight Motion Simulator based on Virtual Prototyping（VP）, adaptive slide controller and ADAMS software, was proposed. During the overall system, the simulation models of virtual table is generated by using the exchange interface of mechanical model; subsequently, adaptive slide controller is established and debugged on the basis of matlab software; finally by making use of friendly interfaces between ADAMS and MATLAB software, Virtual Flight Motion Simulator prototyping can be de- signed and simulated by the way of adaptive slide controller. On the other hand, considering the control of a type of systems with unknown nonlinearities,external disturbances and parameter perturbations, an adaptive sliding mode controller was designed and applied in the virtual table prototyping. The result of computer simulation demonstrates the robustness and the effectiveness of the above proposed algorithm.