基于H_2与H_∞指标的“动中通”伺服系统控制器设计

“Satcom on move”servo system controller design based on H_2 & H_∞ index

以"动中通"伺服系统为对象,研究了一种基于H_2/H_∞指标的控制器设计方案。在反馈控制器方面,将满足LQ最优准则的扩展状态反馈与状态观测设计整合成一个H_2设计问题,给出理论推导与设计方法;在前馈控制器方面,将扰动抑制H_∞指标设计转换为模型匹配设计,并给出有效求解方法。在控制器参数整定过程中,考虑主谐振模态、不确定性等对系统的影响,给出了一种兼顾动态性能和鲁棒稳定性的整定方法。该设计方法从反馈到前馈均着重考虑扰动抑制能力,并在实际系统上取得了较好的效果,对扰动抑制能力要求较高的控制器设计有一定指导作用。

This paper studied the control design based on the H2 ＆ H∞ index by taking the ＂satcom on move＂ servo system as the object. In terms of the feedback controller, it integrated the extended state feedback and state observer design satisfying the LQ optimal criterion into a H2 design problem, and then gave the theoretical derivation and design method. In terms of the feedforward controller, it transformed a proper disturbance suppression H∞ index into the model matching design, and gave an effective solving method. Then considering the influence of the main resonant modes and uncertainties of the system, it gave a parameters tuning specification, which enabled the system to achieve both good dynamic performance and enough robust stability margin. The design scheme from the feedback to the feedforward are focused on the disturbance suppression ability, and has achieved good results in the actual system, which can be of guidance for the controller design that requires higher disturbance suppression capability.