基于线性自抗扰的吊舱力矩电机控制

Pod Torque Motor Control Based on Linear Disturbance Rejection

由于光电吊舱的特殊工作环境在干扰状况下难以实现精确的位置跟踪,针对该问题提出了一种基于线性自抗扰的抗扰控制策略。根据电机运行过程中的状态方程,设计了线性自抗扰的控制算法,在控制器中引入了跟踪微分器安排过渡过程和提取微分信号以解决PID中存在快速性与超调的矛盾问题,并通过MATLAB/Simulink平台建立控制模型和搭建控制器实物实验平台的方法,验证了研究控制策略的有效性和优越性。结果表明:基于仿真平台下在速度控制模式,实现了无超调并且响应时间缩短了5倍;在位置控制模式,位置峰值波动降低了4倍;在时变负载扰动下跟踪精度可达到97.66%;并通过实验验证了线性自抗扰控制策略在实际应用中抗扰性能,其性能指标均优于PI控制器。

Since it is difficult to achieve accurate position tracking under interference conditions in the special working environment of the photoelectric pod,an anti-disturbance control strategy based on linear automatic disturbance rejection is proposed to solve this problem.According to the state equation during motor operation,a control algorithm of linear self-disturbance rejection is designed,a tracking differentiator is introduced into the controller to arrange the transition process and extract the differential signal to solve the contradiction between rapidity and overshoot in PID,and the method of establishing a control model and building a controller physical experiment platform through the MATLAB/Simulink platform verifies the effectiveness and superiority of the research control strategy.The results show that under the speed control mode based on the simulation platform,no overshoot is achieved and the response time is shortened by 5 times;in the position control mode,the position peak fluctuation is reduced by 4 times;the tracking accuracy can reach 97.66%under time-varying load disturbance;and the anti-disturbance performance of the linear anti-disturbance control strategy in practical application is verified by experiments,and its performance index is better than that of the PI controller.