基于跟踪-微分器的气浮十字梁复合控制研究

Compound Control Over Gas-Floating Crossbeam System Based on Tracking Differentiator

基于气浮十字梁实验系统的纵向模型,设计了基于跟踪-微分器的非线性PID控制律,加入补偿器克服跟踪-微分器产生的相位延迟,通过与普通PID控制律进行数学仿真和实物实验的比较,验证了所设计的控制算法鲁棒性好而且对噪声有良好的滤波作用,为深入探讨气动-质量矩复合控制奠定了基础。

The nonlinear proportional integral derivative （PID） controller based on tracking differen- tiator is designed, which is based on the vertical plane of gas-flotage crossbeam. Phase delay is overcome through compensator. And the comparison of simulation and practicality experiment about the crossbeam attitude confined to vertical plane with normal PID controller is performed. The strong robost to interfer- ence of the designed controller is validated, which lays a foundation for developing the composite control of aerodynamics-mass moment control.