定点位置伺服系统的近似时间最优控制

Proximate Time-optimal Servomechanisms Control for Set-point Position Servo System

导弹电动舵机的特点:非线性、强耦合,而传统PID控制无法满足其高性能要求。因此采用近似时间最优控制,并对该控制率的参数进行了分析和设计;其次,引入降维扰动观测器估算负载转矩并加以补偿,减小了负载转矩带来的稳态误差;然后,针对大范围位置指令下满足系统对转速的要求,提出并设计了限速近似时间最优控制策略。最后,搭建了基于Matlab/Simulink的仿真模型和DSP控制平台对所设计控制策略进行验证,仿真和实验结果表明,所设计的控制策略能满足定点位置伺服系统的要求。

The features of missile electric steering are non-linear and strong coupling, but traditional PID control can not meet the high performance requirements of it. So the proximate time-optimal servomecha- nisms was adopted, and the parameters of the control rate were analyzed and designed. And, the reduced- order disturbance observer was used to estimate and compensate the load torque, which reduced the static error caused by the load torque. Then, aiming at the requirements of the system speed for a wide range of position commands, the speed limited proximate time-optimal servomechanisms was proposed and designed. Finally, the simulation model based on Matlab/Simulink and the control platform based on DSP were used to verify the designed Control strategy. Simulation and experimental results show that the designed control strategy can meet the requirements of set-point position servo system.