【摘要】 为解决三轴飞行仿真转台的非线性摩擦问题,该文首先分析了转台中的非线性参数摩擦模型的特性,并将其线性化,得到线性化动态状态变化摩擦模型。其次,采用分解控制算法对不同类型的摩擦分别设计摩擦补偿器,然后综合出整体的控制率。其中常规控制器用来补偿名义模型;自适应补偿器用来补偿可参数化摩擦模型;鲁棒补偿器用来补偿非参数化摩擦模型。最后,分析和仿真研究表明:该摩擦补偿方法有效可靠。更多还原

【Abstract】 In order to solve the nonlinear friction of flight motion simulator,a nonlinear friction model is analyzed and linearized.The linear dynamic state variable friction model is deduced.Secondly,a decomposition control scheme is proposed.Different friction compensation methods are designed aimed at different types of friction.The whole control law is thus concluded,of which a nominal control term compensates for the nominal model,an adaptive compensator compensates for parametric friction,and a robust compensator compensates for non-parametric friction.Lastly,analysis and simulation have confirmed:the friction decomposition control scheme is effective and credible.更多还原