【摘要】 为克服机电伺服系统的摩擦以及其它力矩干扰问题,提出一种基于LuGre模型的摩擦前馈补偿和基于扰动观测器反馈补偿的复合控制策略。以某型号惯性稳定平台的单轴转台为例,首先对单轴转台进行建模分析,根据不变性原理,设计摩擦前馈补偿控制,再根据观测器输入和输出之间存在的数学关系,利用陀螺反馈的角速度信号,设计了基于扰动观测器的力矩补偿控制,最后在试验平台上,采用位置环为离散增量式PID算法,速度环为抗积分饱和PI算法,对提出的复合控制方法进行验证分析。稳定平台的实验结果表明所设计的惯性稳定平台控制系统能有效地抑制机电伺服系统中的摩擦及其它力矩干扰因素,一定程度上提高了惯性稳定平台的稳定性和动态跟踪性能。更多还原

【Abstract】 To overcome the problems of friction and other disturbance torque in electrical servo system,in this paper,a compound control strategy including friction feedforward compensation based on Lu Gre model and feedback compensation based on disturbance observer is put forward. Firstly,takin g single turntable in a type of inertial stabilization platform for example,a model about single turntable is established. And then,according to invariance principle,the controller with feedforward compensation about friction is designed. Secondly,torque compensation system based on disturbance observer that use angular velocity from gyro is designed according to the input and output of mathematical relationship of the observer.Finally,on the test platform,analysis was carried out on the compound control method with the discrete PID algorithm of position loop and anti integral saturation PI algorithm of speed loop. The experimental results show that the compound control system of inertia stabilized platform can effectively restrain the friction and other torque interference factors,to some extent,which improve the stability of inertial stabilization platform and the dynamic tracking performance.更多还原