电光与控制
電光與控製
전광여공제
ELECTRONICS OPTICS & CONTROL
2014年
12期
71-75,80
,共6页
电动加载系统%无人机%线性二次型最优控制%PID%复合控制%抗干扰性
電動加載繫統%無人機%線性二次型最優控製%PID%複閤控製%抗榦擾性
전동가재계통%무인궤%선성이차형최우공제%PID%복합공제%항간우성
electric loading system%UAV%linear quadratic optimal control%PID%compound control%anti-interference
针对无人机等飞行器的舵机电动加载系统中存在多余力矩扰动问题，提出了线性二次型最优控制和比例－积分－微分（PID）控制结合的复合控制策略，实现舵机电动加载系统的加载力矩控制。巧妙选取状态变量，建立了系统的状态空间模型并求得最优控制律，较好地抑制了舵机运动带来的干扰。仿真表明，该复合控制策略控制精度较高，且具有较强的抗干扰能力，与电动加载领域常用的小脑模型关节控制器（CMAC）和 PID 复合的控制策略相比，算法简单、计算量小、仿真速度快、输出曲线更加光滑。
針對無人機等飛行器的舵機電動加載繫統中存在多餘力矩擾動問題，提齣瞭線性二次型最優控製和比例－積分－微分（PID）控製結閤的複閤控製策略，實現舵機電動加載繫統的加載力矩控製。巧妙選取狀態變量，建立瞭繫統的狀態空間模型併求得最優控製律，較好地抑製瞭舵機運動帶來的榦擾。倣真錶明，該複閤控製策略控製精度較高，且具有較彊的抗榦擾能力，與電動加載領域常用的小腦模型關節控製器（CMAC）和 PID 複閤的控製策略相比，算法簡單、計算量小、倣真速度快、輸齣麯線更加光滑。
침대무인궤등비행기적타궤전동가재계통중존재다여력구우동문제，제출료선성이차형최우공제화비례－적분－미분（PID）공제결합적복합공제책략，실현타궤전동가재계통적가재력구공제。교묘선취상태변량，건립료계통적상태공간모형병구득최우공제률，교호지억제료타궤운동대래적간우。방진표명，해복합공제책략공제정도교고，차구유교강적항간우능력，여전동가재영역상용적소뇌모형관절공제기（CMAC）화 PID 복합적공제책략상비，산법간단、계산량소、방진속도쾌、수출곡선경가광활。
Considering the problem of surplus torque disturbance existed in the UAV actuator electric loading system,we proposed a compound control strategy combining linear quadratic optimal control with PID control for realizing the load torque control of the actuator electric loading system.The state space model was established with skillfully selected state variables for the electric loading system,and the optimal control law was obtained, which suppressed the disturbance caused by actuator movement effectively.Simulation result shows that the control strategy has good control precision and anti-interference capability.Compared with the compound control strategy combining CMAC neural network with PID,which is commonly applied in electric loading field,the proposed method is simpler and has smaller amount of calculation,faster simulation speed and smoother output.
