摘要
The uncertainty disturbance is one of the main disturbances that seriously influences the stabilization precision of an aerial inertially stabilized platform(ISP)system.In this paper,to improve the stabilization precision of the ISP under disturbance uncertainty,a robust H∞controller is designed in this paper.Then,the reduction order is carried out for high-order controllers generated by the robust H∞loop shaping control method.The application of the minimum implementation and balanced truncation algorithm in controller reduction is discussed.First,the principle of reduced order of minimum implementation and balanced truncation are analyzed.Then,the method is used to reduce the order of the high-order robust H∞loop shaping controller.Finally,the method is analyzed and verified by the simulations and experiments.The results show that by the reduced-order method of minimum implementation and balanced truncation,the stabilization precision of the robust H∞loop shaping controller is increased by about 10%.
基金
supported in part by the Beijing Natural Science Foundation(Grant No.3182021)
National Natural Science Foundation of China(Grant No.51775017)
Research Project of Beijing Academy of Quantum Information Sciences(Grant No.Y18G30)
the Open Research Fund of the State Key Laboratory for Manufacturing Systems Engineering(Grant No.sklms2018005)
作者简介
Xiangyang ZHOU received his B.S.degree and M.S.degree in 1992 and 2002 in Mechanical Engineering from Hefei University of Technology,Hefei,China,and Xi'an Jiaotong University,Xir an,China.He received his Ph.D.degree in Instrument Science and Technology from Xi,an Jiaotong University,Xi'an,China,in 2008.He is currently a Professor with the Schoal of Instrumentation and Optoeletronic Engineering,Beihang University,Beijing,China.His main research interests include mechatronics,control technology and MEMS sensors.E-mail:xyzhou@buaa.edu.cn;Yuqian LI received the B.S.degree in Control Science and Engineering from Shandong University,Jinan,China,in 2018.Now she is a Master5 s student in Beihang University.Her main research interest is high precision control method of inertially stabilized platforms.E-mail:yuqianli@buaa.edu.cn;Chao YANG received the B.S.degree in measurement and control technology,and instrumentation from Yanshan University,Qinhuangdao,China,in 2014.She received the M.S.degree in Instrument and Meter's.degree in Engineering from Beihang University,Beijing,China,in 2018.Her research interest includes high precision control of inertially stabilized platforms for aerial remote sensing applications.E-mail:ycl517215@buaa.edu.cn
