基于DUEA的天线伺服控制系统仿真

Simulation on antenna servo control system based on DUEA

大口径射电望远镜天线易受到外部阵风等扰动、系统不确定及难以实现高指向精度的问题,为实现系统的高性能指标,提出了基于回路成形和扰动/不确定观测补偿(DUEA)的思想的方法。首先,使用混合灵敏度H;设计方法对标称模型设计主控制器来实现对输入信号的最优跟踪;然后,针对影响系统输出的外部扰动以及系统不确定部分,基于等效输入扰动(EID)策略,使用广义扩张状态观测器(GESO)对其进行等效观测和补偿。仿真验证结果表明:在系统存在参数不确定以及输入扰动时,使用提出的H_(∞)-GESO控制器的性能指标分散度为单独使用混合灵敏度H;控制器的指标分散度的66.7%及以下,天线控制性能得到了明显提升。

The large aperture radio telescope is vulnerable to exogenous disturbances such as gusts,systemic uncertainties,and difficulty in achieving high pointing accuracy.To realize the high-performance objective of the telescope control system,the method based on loop shaping and Disturbance/Uncertainty Estimation and Attenuation(DUEA)is proposed.First,a main controller for the nominal model is designed by the approach of mixed sensitivity H;to realize the optimal tracking to the input signal.Second,based on the idea of Equivalent Input Disturbance(EID),the external disturbances and systemic uncertainties affecting the system output are equivalently observed and compensated using a Generalized Extended State Observer(GESO).Finally,it is verified by simulation experiments that in the presence of parameter uncertainties as well as input disturbance in the system,the dispersion of system performance indexes using the proposed H_(∞)-GESO controller is 66.7%and below than that only using the mixed sensitivity H;controller,and the antenna control performance is significantly improved.