基于刚体模型的光电伺服系统最优控制方法

Optimal Control Method of Photoelectric Servo System Based on Rigid Body Model

在现阶段的导弹武器系统中,控制系统大都采用经典PID控制器,但随着控制性能要求的不断提升,PID控制器在追求响应快速的同时难以兼得跟踪过程平稳;针对工程中遇到的以上问题,提出设计最优控制器,采用线性二次型调节器(LQR)求解最优控制律;通过仿真可以看到,最优控制器跟踪阶跃信号无静差,调节时间为0.034 s,上升过程平稳无超调;跟踪斜坡信号和正弦信号时,跟踪误差远小于,滞后时长仅为毫秒量级;最优控制器系统能够实现快速跟踪阶跃、斜坡和正弦输入信号,且具有较好的跟踪性能;与经典PID控制器相比,该方法具有更高的控制精度、更好的控制性能和稳定性,能够解决PID控制器在工程中遇到的快速性和平稳性难以兼得的难题。

In current missile weapon systems,most control systems rely on classical PID controllers.However,with the improvement of control performance,it is difficult for PID controllers to simultaneously achieve rapid response and stable tracking processes.To address these challenges in engineering,an optimal controller is designed,and linear quadratic regulator(LQR)is used to solve optimal control law.Simulation results show that the optimal controller exhibits no static difference in tracking step signals,with an adjustment time of 0.034 s and stable rising process without overshoot.When tracking slope and sinusoidal signals,the tracking error is less than 0.10,with a lag time of only a few milliseconds.This optimal controller system achieves rapid and accurate tracking performance for step,slope,and sinusoidal signals.Compared to classical PID controllers,this approach provides higher control precision,better control performance and stability,and effectively solves the issue of PID controllers being difficult to achieve both rapidity and stability in engineering applications.