执行机构带宽对动态逆方法的影响及解决方案

Influence of Actuator Bandwidth on Dynamic Inverse Method and Solution

本文从理论上分析了执行机构带宽对动态逆闭环控制系统动态特性影响,发现较低的执行机构带宽会在伪线性系统中引入一个非线性干扰项,为此提出了两种方法来消除这个非线性干扰项,一个是采用参考模型的思想设计补偿器提高执行机构子系统的等效带宽,另一个思路则是直接在非线性反馈项中引入补偿直接对消非线性干扰项.仿真结果表明,两类方法都能较好地消除非线性干扰项,直接补偿方法能精确消除干扰项,但需要准确动力学模型,提高等效带宽的方法虽然是近似的,但能方便地引入自适应算法,可以抑制执行机构模型参数不确定的影响.

Through analyzing the influence of actuator bandwidth on dynamic characteristics of dynamic inverse close-loop control system,it is found that lower actuator bandwidth will introduce a nonlinear disturbance into pseudo-linear system,therefore,two methods are proposed to eliminate this nonlinear disturbance term,one is to use the idea of the reference model to design the compensator to improve the equivalent bandwidth of the actuator subsystem,the other idea is to introduce compensation directly into nonlinear feedback term to eliminate nonlinear disturbance.The simulation results show that both types of methods can eliminate nonlinear disturbance,the direct compensation method can accurately eliminate disturbance,but accurate dynamic model is needed,although the method by improving the equivalent bandwidth is approximate,it can easily introduce adaptive algorithm,which can restrain the influence of uncertain parameters of the actuator model.