【作者】 于丽；

【导师】 王春阳；

【作者基本信息】 长春理工大学 ， 控制科学与工程， 2017， 硕士

【摘要】 陀螺稳定平台作为典型的伺服控制系统,在弹载、舰载、机载以及航空航天等高科技领域中都得到了广泛的应用。随着现代化战争的需求,陀螺稳定平台对稳定精度的要求越来越高,传统的PID控制方法已经无法满足控制系统的需求。因此,本文通过对控制系统建模、摩擦力分析、自抗扰控制算法改进等内容进行研究,提高了自抗扰控制器的抗扰能力和跟踪特性,使陀螺稳定平台的稳定精度得到大幅度提升。自抗扰控制(ADRC)技术是一种新型的控制策略,它具有不依赖被控系统精确模型的优点,且算法简单,具有很好的鲁棒性,可以实时地估量补偿被控系统内的各种干扰,这是经典控制技术所不具备的。本文主要以两轴四框架的机载陀螺稳定平台作为被控对象,运用自抗扰控制方法展开了相关的理论以及仿真研究。由于陀螺稳定平台在大部分情况下都处在低速的工作环境,且在此环境下受到的摩擦干扰尤为严重,所以本文在不考虑陀螺噪声等其他干扰因素对控制系统影响的前提下,利用自抗扰控制将摩擦干扰和系统模型误差归结为系统的总扰动,并实时估计出总扰动的值,对控制量进行动态补偿,从而提高其闭环系统的控制性能。仿真实验表明,自抗扰控制系统具有响应速度快,抗干扰能力强,稳态精度高等优良特性。本文的创新之处是:将传统自抗扰控制器中所用到的非线性函数fal(·) 改进为在整个实数域内的光滑连续函数bas(·) ,并将改进后的自抗扰控制器应用于机载陀螺稳定平台系统中。更多还原

【Abstract】 Gyro Stabilized Platform as a typical servo control system,in the air-borne,missile-borne,ship-borne and aerospace and other high-tech fields have been widely used.With the continuous development of science and technology,Gyro Stabilization Platform for the stability of the increasingly high precision,the traditional PID control method has been unable to meet the control system needs.Therefore,this paper improves the control system modeling,friction analysis,Active Disturbance Rejection Control algorithm and so on,the disturbance rejection ability and the tracking characteristic of the ADRC controller are improved,So that the stability of the stability of the Gyro Stability Platform has been greatly improved.ADRC technology is a new control strategy,which has the advantage of not relying on the precise mathematical model of the controlled system,and the algorithm is simple,which has good robustness.ADRC can compensate for various disturbances in the controlled system in real time,which is not available in classical control technology.In this paper,the two-axis four-frame gyro-stabilized platform is taken as the controlled object,and the relevant theory and simulation research are carried out by ADRC method.Because the Gyro Stabilization Platform is in low speed working environment in most cases,and the frictional interference is especially serious in this environment,therefore,this paper does not consider the gyro noise and other interference factors on the premise of the impact of the control system.The friction disturbance and the system model error are reduced to the total disturbance of the system,and the total disturbance value is estimated in real time,and the control quantity is dynamically compensated to improve the control performance of the closed loop system.The simulation results show that the ADRC control system has the characteristics of fast response,strong anti-interference ability and high steady-state precision.The innovation of this paper is as follows: the nonlinear function fal(·) used in the traditional ADRC controller is improved to a smooth continuous function bas(·) in the entire real domain,and the modified ADRC is applied to the Gyro Stabilized Platform system.更多还原