【作者】 朱海荣； 李奇； 方仕雄； 黄昌霞；

【Author】 ZHU Hai-rong~(1,2),LI Qi~1,FANG Shi-xiong~1,HUANG Chang-xia~1 (1.School of Automation,Southeast University,Nanjing 210096,China; 2.Electrical Engineering School,Nantong University,Nantong 226019,China)

【机构】 东南大学自动化学院； 南通大学电气工程学院；

【摘要】 针对惯性稳定平台非线性、耦合多变量系统的特点,提出了一种带死区补偿积分限制PID控制和扰动观测器相结合的复合控制方法。系统模型失配和动力学耦合等因素构成内部扰动,摩擦力矩、质量不平衡等因素构成外部扰动,系统内部扰动和外部扰动构成总扰动,通过构造扰动观测器来预测系统总干扰,并根据预测到的干扰信息对各个轴系进行补偿以消除干扰对系统的影响。同时,引入带死区补偿积分限制PID控制可以解决平台低速运行时的爬行现象。通过某型号惯性稳定平台系统的测试表明,所提出的复合控制方法能很好地提高系统抗干扰能力,有效提高了系统的跟踪精度。更多还原

【Abstract】 Considering the characteristics of nonlinear,coupling and multi-variable system of inertially stabilized platform,a novel controller is proposed.The controller includes a dead-time compensation integration-limited PID feedback part and a feed-forward compensation part for the disturbances by using a disturbance observer(DOB).The system considered here is with lumped disturbances which include internal disturbances,such as model mismatches and kinematic coupling effects,and external disturbances,such as friction and imbalance.Through estimation of lumped disturbances by using disturbance observer,the disturbance acting on each axis can be compensated,and then the effect of disturbance is suppressed.And the creeping phenomenon at low rotating speed of the motor can be solved by introducing dead-time compensation integration-limited PID control.The experimental results in an inertially stabilized platform demonstrate that the proposed compound control method has a good disturbance rejection property which can improve tracking precision.更多还原