【摘要】 主要对光电吊舱俯仰环采用系统辨识法进行数学建模,基于幅值裕量和相位裕量法对分数阶PIλDμ控制器参数整定,采用AL-Alaoui+CFE脉冲响应不变法对控制器进行离散化实现,结合卡尔曼滤波器对模型进行仿真分析,结果表明基于卡尔曼滤波器的分数阶PIλDμ控制器比纯分数阶PIλDμ控制器具有更好的控制效果、更强的鲁棒性和抗干扰能力。更多还原

【Abstract】 The mathematical model of optical pod pitch is established by using the system identification method. The controller parameters of fractional order PIλDμ are tuned based on the amplitude margin and phase margin method, and the AL-Alaoui+CFE impulse response invariant method is used to discretize the controller. Finally, the model is simulated and analyzed with Kalman filter, and the results show that the fractional order PIλDμ controller based on the Kalman filter has better control effect, stronger robustness and anti-interference ability than pure fractional order PI~λD~μ controller.更多还原