电子测量技术
電子測量技術
전자측량기술
Electronic Measurement Technology
2015年
10期
1-5
,共5页
IMC 控制%扰动抑制%二自由度控制%局部干扰观测器
IMC 控製%擾動抑製%二自由度控製%跼部榦擾觀測器
IMC 공제%우동억제%이자유도공제%국부간우관측기
internal model controller%anti-disturbance%2-DOF controller%part disturbance observer
在航空稳定平台中,为了解决扰动力矩对于视轴稳定性的影响,在鲁棒 IMC 控制原理的基础上,利用局部干扰观测器思想进行改进。结合二自由度控制思想,通过引入一组与误差量无关的控制器,将扰动抑制和跟踪精度分离,在保证控制系统鲁棒性的前提下,提高了稳定平台的抗干扰能力和稳定跟踪能力。对于本文方法进行了仿真和物理实验,设计实验如下：1)平台外框架不动,内框架以0.5 Hz,1°／s 的正弦信号运动；2)外框架以1 Hz,6°／s 的正弦信号作为速度扰动,内框架在补偿轴系摩擦力矩的前提下保持稳定。实验结论：二自由度鲁棒内膜控制系统有效的克服了轴系摩擦力矩所带来的影响,使得控制系统具有更好的输入响应特性,并将平台稳定精度从0.03°提升到0.004°,证明了本方法在保证良好输入响应特性的前提下,提高其抗干扰能力。
在航空穩定平檯中,為瞭解決擾動力矩對于視軸穩定性的影響,在魯棒 IMC 控製原理的基礎上,利用跼部榦擾觀測器思想進行改進。結閤二自由度控製思想,通過引入一組與誤差量無關的控製器,將擾動抑製和跟蹤精度分離,在保證控製繫統魯棒性的前提下,提高瞭穩定平檯的抗榦擾能力和穩定跟蹤能力。對于本文方法進行瞭倣真和物理實驗,設計實驗如下：1)平檯外框架不動,內框架以0.5 Hz,1°／s 的正絃信號運動；2)外框架以1 Hz,6°／s 的正絃信號作為速度擾動,內框架在補償軸繫摩抆力矩的前提下保持穩定。實驗結論：二自由度魯棒內膜控製繫統有效的剋服瞭軸繫摩抆力矩所帶來的影響,使得控製繫統具有更好的輸入響應特性,併將平檯穩定精度從0.03°提升到0.004°,證明瞭本方法在保證良好輸入響應特性的前提下,提高其抗榦擾能力。
재항공은정평태중,위료해결우동력구대우시축은정성적영향,재로봉 IMC 공제원리적기출상,이용국부간우관측기사상진행개진。결합이자유도공제사상,통과인입일조여오차량무관적공제기,장우동억제화근종정도분리,재보증공제계통로봉성적전제하,제고료은정평태적항간우능력화은정근종능력。대우본문방법진행료방진화물리실험,설계실험여하：1)평태외광가불동,내광가이0.5 Hz,1°／s 적정현신호운동；2)외광가이1 Hz,6°／s 적정현신호작위속도우동,내광가재보상축계마찰력구적전제하보지은정。실험결론：이자유도로봉내막공제계통유효적극복료축계마찰력구소대래적영향,사득공제계통구유경호적수입향응특성,병장평태은정정도종0.03°제승도0.004°,증명료본방법재보증량호수입향응특성적전제하,제고기항간우능력。
In order to resolve the moment disturbance to the fast response of tracking moving targets of the stabilized platforms,2-DOF robustness internal model controller is designed with the part disturbance observer on the foundation of the robustness IMC.First,based on robustness IMC,improve on the system with the part disturbance observer. Following,introducing the controller with no contacting to the error while combining 2-DOF controller,to make the disturbance rejected ability and tracking ability apart.At the precondition of assuring the systemic robustness,improve the anti-disturbance ability and tracking ability.Ultimately,some simulations and experiments were carried out.While outside frame of the platforms was no movement,inside frame of the platforms does sinusoidal movement with the 0.5 Hz,1°/s,the 2-DOF internal model controller overcome the effect of the friction moment,make the system having better input-respond characteristic;while outside frame of the platforms does sinusoidal movement with the 1 Hz,6°/s to make the disturbance of the velocity,the stabilization precision of platform is increased from 0.03°to 0.004°.The method is testified to improve the anti-disturbance ability when assure the good input-respond characteristic.
