【摘要】 论述了基于backstepping的飞行仿真转台自适应摩擦补偿控制。在实验的基础上,提出了飞行仿真转台的动态模型,其中包括动态LuGre摩擦模型。针对此动态模型推导出包括自适应摩擦补偿的backstepping鲁棒控制器。仿真实验证明:闭环系统的输出可以达到渐进跟踪给定的位置参考信号和速度参考信号,克服了转台在使用传统的PID控制器时,其位置波形存在平顶,速度波形存在畸变的缺点。更多还原

【Abstract】 The backstepping controller with adaptive friction compensation scheme was designed for the flight simulator. The dynamic model of the flight simulator was proposed by test,which contained the LuGre friction model. The backstepping controller with friction parameter update law was deduced for this dynamic model. Simulation results show that the output from the system can achieve asymptotic tracking of the given position and velocity reference signal and the aberration of velocity response under the control of common PID controller is overcome.更多还原