摘要
针对运动平台上光电跟踪系统既要抑制平台扰动对视轴稳定的影响,又必须对建模误差具有很强的鲁棒性的特点,设计了稳定平台改进鲁棒性的内模控制器.通过在内模控制基础上添加一局部反馈回路构成鲁棒内模控制,并详细分析了鲁棒内模控制对系统建模误差和外界扰动的鲁棒性.仿真和实验结果显示,与采用PI控制相比,鲁棒内模控制在很宽频段范围内提高了系统对扰动的抑制能力,28 Hz以内都有10 dB以上的提高.
To meet the requirements of strong anti-disturbance and anti-model error and fast response to track moving targets for the photoelectric tracking system on the moving bed,a robust internal model controller（RIMC） is designed.The structure of RIMC is designed by adding a local feedback loop based on IMC which is used to estimate the disturb and model error.The robustness of RIMC to the model error and disturb are analyzed in detail.Compared with PI controller,simulation and experimental results show that the disturbance rejection performance is improved more than 10 dB within 28 Hz in a broad bandwith by adopting RIMC.
出处
《控制与决策》
EI
CSCD
北大核心
2013年第7期1117-1120,共4页
Control and Decision
基金
国防预研项目(863-802)
关键词
运动平台
光电跟踪系统
视轴稳定
鲁棒内模控制
鲁棒性
扰动
moving bed
photoelectric tracking system
line of sight
robust internal model controller（RIMC）
robustness
disturbance
