摘要
关于稳定平台是旋转导向钻井工具的重要环节。针对稳定平台存在的摩擦问题带来的不确定性,为提高平台系统的控制精度和稳定性,提出利用模糊控制理论与滑模变结构控制相结合的稳定平台控制系统。通过建立带摩擦的稳定平台模型,设计出变结构控制器和自适应模糊系统逐步逼近等效控制,并对切换项进行模糊逼近,以平滑不连续控制。仿真结果表明方法既保证了控制系统对外界扰动和参数不确定性具有较好的鲁棒性,也实现了较高的稳定平台姿态控制精度,使闭环系统具有良好的动态性能。
Stabilized platform is the most important part of the rotary steering drilling tools.Fuzzy control theory with sliding mode variable structure control is proposed for uncertainty existing in the stable platform with the friction problem.Through the establishment of the friction model with the stability of the platform model,the variable structure controller and the adaptive fuzzy controller approaching the equivalent control is designed,fuzzy approximation is made at switching to smooth discontinuous control.Simulation results show that the method not only guarantees the control system to outside disturbances and parameter uncertainty has good robustness,but also achieves a high precision attitude control of stable platform,so that the closed-loop system has good dynamic performance.
出处
《计算机仿真》
CSCD
北大核心
2010年第10期152-155,共4页
Computer Simulation
基金
国家自然基金项目(60871080)
中国石油天然气集团公司创新基金项目(07E1014)
陕西省自然科学基金研究计划(SJ08E216)
陕西省科学技术研究发展计划项目(2010K07-09)
关键词
稳定平台
滑模控制
模糊自适应
等效控制
stabilized platform
sliding mode variable structure control
adaptive fuzzy control
equivalent control
