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针对飞行仿真转台伺服系统非线性和容易受干扰的特点,提出了带有干扰观测器的连续滑模控制方法,研究了在未知干扰下飞行仿真转台伺服系统的姿态跟踪问题。基于自适应控制技术和李雅普诺夫稳定性理论,针对在不确定性干扰下飞行仿真转台伺服系统的姿态跟踪,提出了带干扰观测器的无抖振自适应滑模控制律。该控制器在对不确定性和未知动态保持鲁棒性的基础上,通过设计干扰观测器来降低滑模切换项的增益,从而消除了传统滑模控制中存在的抖振现象。最后给出了一个应用此方法进行控制的实际例子,实验结果表明,与传统的滑模控制方法相比,该控制方案提高了跟踪精度,对系统参数变化和外界扰动也具有更强的鲁棒性,结果表明了这种方法的有效性。
In view of the non-linear and easily disturbed characteristics of flight simulation turntable servo system, a continuous sliding mode control method with disturbance observer is proposed and the attitude tracking problem of flight simulation turret servo system under unknown disturbance is studied. Based on adaptive control technique and Lyapunov stability theory, a chattering-free adaptive sliding mode control law with disturbance observer is proposed for attitude tracking of flight simulation turret servo system with uncertainty disturbance. Based on the robustness to uncertainties and unknown dynamics, this controller reduces the gain of the sliding mode switching term by designing disturbance observers, thus eliminating the chattering in traditional sliding mode control. Finally, a practical example of this method is given. The experimental results show that the proposed control scheme can improve the tracking accuracy compared with the traditional sliding mode control method, and it also has stronger robustness to system parameter changes and external disturbances The results show the effectiveness of this method.