In order to enhance the dynamic control precision of inertial stabilization platform(ISP),a disturbance sliding mode observer(DSMO)is proposed in this paper suppressing disturbance torques inherent within the system.T...In order to enhance the dynamic control precision of inertial stabilization platform(ISP),a disturbance sliding mode observer(DSMO)is proposed in this paper suppressing disturbance torques inherent within the system.The control accuracy of ISP is fundamentally circumscribed by various disturbance torques in rotating shaft.Therefore,a dynamic model of ISP incorporating composite perturbations is established with regard to the stabilization of axis in the inertial reference frame.Subsequently,an online estimator for control loop uncertainties based on the sliding mode control algorithm is designed to estimate the aggregate disturbances of various parameters uncertainties and other unmodeled disturbances that cannot be accurately calibrated.Finally,the proposed DSMO is integrated into a classical proportional-integral-derivative(PID)control scheme,utilizing feedforward approach to compensate the composite disturbance in the control loop online.The effectiveness of the proposed disturbance observer is validated through simulation and hardware experimentation,demonstrating a significant improvement in the dynamic control performance and robustness of the classical PID controller extensively utilized in the field of engineering.展开更多
大型车载光电望远镜伺服系统由于受到力矩电机齿槽力矩等因素造成的时变扰动,从而导致跟踪性能下降。为了提高大型车载光电望远镜伺服系统的抗扰动能力,对望远镜伺服系统的速度环路等校正环节进行设计。针对电机齿槽力矩等带来的周期性...大型车载光电望远镜伺服系统由于受到力矩电机齿槽力矩等因素造成的时变扰动,从而导致跟踪性能下降。为了提高大型车载光电望远镜伺服系统的抗扰动能力,对望远镜伺服系统的速度环路等校正环节进行设计。针对电机齿槽力矩等带来的周期性扰动和时变扰动,对比了基于电流直接补偿、观测器前馈补偿等方法,分析了以上方法在实际工程中的应用局限,提出了基于补偿和预测模型的扩张状态观测器在线扰动估计和补偿方法,在伺服系统硬件框架不变的情况下,充分利用系统已知信息,提高了补偿精度。最后,利用仿真和实验对该方法进行验证。实验结果表明,该系统在跟踪1(°)/s速度指令时,转速波动误差均方根(Root Mean Square,RMS)值由未加补偿时的0.00760(°)/s下降到0.00345(°)/s,相对下降了54.6%;在跟踪1(°)/s的位置斜坡指令时,位置跟踪误差RMS值由未加补偿时的0.997″下降到0.157″,相对下降了84.3%。因此,本文采用的方法可以有效提升大型车载光电望远镜伺服系统的抗扰动能力。展开更多
控制力矩陀螺(control moment gyroscope,CMG)框架伺服系统常受到外部扰动力矩和内部参数摄动等多源扰动影响,导致其控制性能降低,本文重点针对参数摄动对框架伺服系统造成的影响,提出了基于H_(2)/H_(∞)复合控制的CMG框架伺服系统扰动...控制力矩陀螺(control moment gyroscope,CMG)框架伺服系统常受到外部扰动力矩和内部参数摄动等多源扰动影响,导致其控制性能降低,本文重点针对参数摄动对框架伺服系统造成的影响,提出了基于H_(2)/H_(∞)复合控制的CMG框架伺服系统扰动抑制方法.在常规H_(∞)鲁棒控制方法中引入电机参数摄动量,在保证对外部力矩扰动具有鲁棒性的基础上,提升对内部参数摄动影响的抑制能力;结合H_(2)控制策略,提出基于状态反馈H_(2)/H_(∞)复合控制方法,在保证稳态性能的同时进一步提升系统动态响应速度.所提出的复合控制方法能够有效降低多源扰动导致的速度波动,提升系统的动态响应速度.展开更多
针对传统谐振控制器与PI控制器并联(PIR)无法克服积分环节饱和等因素引起的系统动态过程中超调震荡问题,提出了一种改进双环自抗扰谐振控制器(dual-loop active disturbance rejection control,DLADRC)。DLADRC速度环与电流环均采用自...针对传统谐振控制器与PI控制器并联(PIR)无法克服积分环节饱和等因素引起的系统动态过程中超调震荡问题,提出了一种改进双环自抗扰谐振控制器(dual-loop active disturbance rejection control,DLADRC)。DLADRC速度环与电流环均采用自抗扰控制,速度环采用传统的自抗扰控制。电流环采用一种改进的谐振扩张状态观测器,将观测电流作为谐振控制器的输入,令谐振控制器的输出直接作用到电流环输出,从而降低了谐振电流环设计的复杂性。双环自抗扰谐振控制器保留了谐振控制器抑制特定频率谐波电流的特性,同时优化了系统的超调量与调节时间,有效提升了谐振控制系统的动态性能。仿真结果验证DLADRC系统的有效性。展开更多
基金supported by the National Natural Science Foundation of China(61803015).
文摘In order to enhance the dynamic control precision of inertial stabilization platform(ISP),a disturbance sliding mode observer(DSMO)is proposed in this paper suppressing disturbance torques inherent within the system.The control accuracy of ISP is fundamentally circumscribed by various disturbance torques in rotating shaft.Therefore,a dynamic model of ISP incorporating composite perturbations is established with regard to the stabilization of axis in the inertial reference frame.Subsequently,an online estimator for control loop uncertainties based on the sliding mode control algorithm is designed to estimate the aggregate disturbances of various parameters uncertainties and other unmodeled disturbances that cannot be accurately calibrated.Finally,the proposed DSMO is integrated into a classical proportional-integral-derivative(PID)control scheme,utilizing feedforward approach to compensate the composite disturbance in the control loop online.The effectiveness of the proposed disturbance observer is validated through simulation and hardware experimentation,demonstrating a significant improvement in the dynamic control performance and robustness of the classical PID controller extensively utilized in the field of engineering.
文摘大型车载光电望远镜伺服系统由于受到力矩电机齿槽力矩等因素造成的时变扰动,从而导致跟踪性能下降。为了提高大型车载光电望远镜伺服系统的抗扰动能力,对望远镜伺服系统的速度环路等校正环节进行设计。针对电机齿槽力矩等带来的周期性扰动和时变扰动,对比了基于电流直接补偿、观测器前馈补偿等方法,分析了以上方法在实际工程中的应用局限,提出了基于补偿和预测模型的扩张状态观测器在线扰动估计和补偿方法,在伺服系统硬件框架不变的情况下,充分利用系统已知信息,提高了补偿精度。最后,利用仿真和实验对该方法进行验证。实验结果表明,该系统在跟踪1(°)/s速度指令时,转速波动误差均方根(Root Mean Square,RMS)值由未加补偿时的0.00760(°)/s下降到0.00345(°)/s,相对下降了54.6%;在跟踪1(°)/s的位置斜坡指令时,位置跟踪误差RMS值由未加补偿时的0.997″下降到0.157″,相对下降了84.3%。因此,本文采用的方法可以有效提升大型车载光电望远镜伺服系统的抗扰动能力。
基金Supported by the National Natural Science Foundation of China (62173150)the Science and Technology Innovation Project of Shunde,Foshan(2230218004224)the Guangdong Basic and Applied Basic Research Foundation-the Key Joint Research Project (2022B1515120003)。
文摘控制力矩陀螺(control moment gyroscope,CMG)框架伺服系统常受到外部扰动力矩和内部参数摄动等多源扰动影响,导致其控制性能降低,本文重点针对参数摄动对框架伺服系统造成的影响,提出了基于H_(2)/H_(∞)复合控制的CMG框架伺服系统扰动抑制方法.在常规H_(∞)鲁棒控制方法中引入电机参数摄动量,在保证对外部力矩扰动具有鲁棒性的基础上,提升对内部参数摄动影响的抑制能力;结合H_(2)控制策略,提出基于状态反馈H_(2)/H_(∞)复合控制方法,在保证稳态性能的同时进一步提升系统动态响应速度.所提出的复合控制方法能够有效降低多源扰动导致的速度波动,提升系统的动态响应速度.
文摘针对传统谐振控制器与PI控制器并联(PIR)无法克服积分环节饱和等因素引起的系统动态过程中超调震荡问题,提出了一种改进双环自抗扰谐振控制器(dual-loop active disturbance rejection control,DLADRC)。DLADRC速度环与电流环均采用自抗扰控制,速度环采用传统的自抗扰控制。电流环采用一种改进的谐振扩张状态观测器,将观测电流作为谐振控制器的输入,令谐振控制器的输出直接作用到电流环输出,从而降低了谐振电流环设计的复杂性。双环自抗扰谐振控制器保留了谐振控制器抑制特定频率谐波电流的特性,同时优化了系统的超调量与调节时间,有效提升了谐振控制系统的动态性能。仿真结果验证DLADRC系统的有效性。
