摘要
针对三轴飞行仿真转台高精确度伺服系统中存在的由于系统模型参数变化,以及外部扰动、摩擦引起的不确定性和非线性,提出基于模型参考自适应的复合控制方案。该方案具有连续自适应、离散自适应和复合控制方法的优势,通过自适应增益的调整及数字前馈控制的引入,能够消除内外部干扰产生的误差,保证系统在宽频带范围内的跟踪性能和控制精确度。实验结果表明,提出的控制方案能够有效地补偿转台系统外部扰动、摩擦引起的非线性和不确定性,拓宽了系统频带,将转台双三指标(频率特性幅值介于-0.264 6～0.257 6 dB之间,相位特性介于-3～3°之间)由4.5 Hz拓展到10 Hz以上,同时,该方案控制结构清晰、响应速度快、实时性好,控制器设计简单。
As for parameters fluctuating,uncertainties caused by external disturbance and friction,the nonlinearity of the three-axis flight simulator turn table servo system,it is proposed a hybrid adaptive compound control method base on studying the model reference adaptive control（MRAC）.It combines the advantages of adaptive control method and the compound control method,and it can eliminate the model errors by the adjustment of the adaptive gains and the application of the digital feed-forward technology,assuring the dynamic tracking performance and control precision at a long range frequency.The experiment results verified that the proposed control method can broaden the frequency band satisfying amplitude frequency response characterristics-0.264 6 dB to 0.257 6 dB and phase frequency response characterristics-3 degree to 3 degree to 10 Hz,and restrain the uncertainties and external disturbance of the whole flight simulator system efficiently.Meanwhile,the control method has the explicit control framework with the properties of fast response,high real-time performance.Furthermore,the whole controller design process is clear and simple.
出处
《电机与控制学报》
EI
CSCD
北大核心
2011年第9期74-79,共6页
Electric Machines and Control
基金
北京优秀人才培养资助个人项目(PYZZ090420001625)
