基于摩擦模型的固冲发动机流量调节控制

Design of Flow Regulation Control of Solid Rocket Ramjet Motor Based on Friction Model

针对固冲发动机流量调节伺服控制系统在实际运行中存在摩擦负载的问题,提出一种基于Lu Gre模型的自适应摩擦补偿方法。考虑到摩擦模型的参数会随系统变化而发生改变,采用反步(Backstepping)方法设计自适应摩擦补偿控制方案。在分析流量调节伺服系统数学模型的基础上,运用Matlab对伺服系统直流无刷电机电流、速度、位置三闭环系统进行建模和系统仿真,并与采用常规PID算法的系统进行了比较。仿真结果表明基于Lu Gre摩擦模型的Backstepping自适应摩擦补偿控制系统具有较好的给定适应性和抗干扰性,优于常规PID控制系统的性能。采用该补偿方案能有效地抑制摩擦干扰对伺服系统的不利影响,为提高固冲发动机流量调节伺服系统的动态跟踪性能奠定基础。

Aimed at the presence of friction load in actual operation of solid rocket ramjet motor flow regulation servo control system, an adaptive friction compensation based on LuGre model is presented. Considering the parameters of friction model changed with the system, the controller of adaptive friction compensation is designed through backstepping method. Based on the flow regulation servo system math model, the system of three-closed loop control of current and speed and position for brushless DC motor is modeled and simulated based on Matlab, and compared with normal PID＇s. The simulation results show that the system which adopts backstepping adaptive friction compensation method based on LuGre model has good adaptability and antijamming ability, which is better than PID~. Therefore, the proposed com- pensation scheme can effectively inhibit the disadvantageous influence of friction and lay a foundation for improvement of dynamic performance of solid rocket ramjet motor flow regulation servo system.