基于灵敏度函数塑形的超声电机驱动平台的数字内模控制器

Digital internal module controller shaped by sensitivity function of platform driven by ultrasonic motor

针对将超声电机这一新型电机应用于稳定平台后产生的存在负载与扰动难以实现高精度控制的问题,结合超声电机与稳定平台的驱动特点提出一种适用于超声电机驱动稳定平台的控制方法。通过对稳定平台的机械结构进行动力学分析得出稳定平台的传递函数,并根据稳定平台的工作指标转化得到的控制目标确定灵敏度函数模板。按照灵敏度函数模板的要求通过极点配置与添加辅助极点与滤波器的方法调整系统由扰动到输出的灵敏度函数。对该控制器在仿真软件中进行仿真实验的结果表明:该控制方法相较于经典比例-积分-微分控制器可以提高系统响应的速度,缩小对参考信号的跟踪误差,有效抑制外界对系统输出的影响。

Aiming at the problem that it is difficult to realize high precision control of ultrasonic motor with load and disturbance caused by the platform,a new controller was proposed based on the characteristics of the ultrasonic motor and the stable platform.Through the dynamic analysis of the mechanical structure of the stabilized platform,the transfer function of the stable platform was obtained.The sensitivity function template was determined according to the control target transformed from the stable platform′s working index.According to the requirements of the sensitivity function template,the sensitivity function of the system from disturbance to output was adjusted through the method of setting the pole and adding the auxiliary pole and the filter.Simulation results of this controller in the simulation software show that this control method can improve the response speed of the system and reduce the tracking error of the reference signal compared with the classical proportional-integral-derivative controller.