航空学报 > 2008, Vol. 29 Issue (1): 141-148

陀螺稳定平台状态补偿控制

左哲1,李东海2,戴亚平1,宋跃进3   

  1. 1北京理工大学 自动控制系 2清华大学 热能动力仿真与控制研究所 3中国兵器工业集团二○七研究所
  • 收稿日期:2007-01-29 修回日期:2007-07-26 出版日期:2008-01-15 发布日期:2008-01-15
  • 通讯作者: 左哲1

State Compensating Control for Gyro-stabilized Platform

Zuo Zhe1,Li Donghai2,Dai Yaping1,Song Yuejin3   

  1. 1Department of Automatic Control, Beijing Institute of Technology 2Institute of Simulation and Control for Thermal Power Engineering, Tsinghua University  3North Industries Group 207 Research Institute
  • Received:2007-01-29 Revised:2007-07-26 Online:2008-01-15 Published:2008-01-15
  • Contact: Zuo Zhe1

摘要:

基于状态补偿控制理论,设计了陀螺稳定平台的状态补偿控制系统。利用预补偿器约束系统频率特性,通过遗传算法优化参数,结合Monte-Carlo随机试验方法,进行系统的性能鲁棒分析。动态仿真试验表明:在考虑参数摄动、外部扰动及耦合的情况下,所设计的控制系统的幅值特性曲线斜率具有:低频段高于传统设计43.7%,高频段低于传统设计13.4%的效果;小于0.2 s响应时间;扰动不敏感的性能鲁棒性。

关键词: 陀螺稳定平台, 自抗扰控制, Tornambe控制, 预补偿器, 状态补偿控制

Abstract:

This paper designes a control system for gyro-stabilized platform based on the state compensating control theory. Advance compensator is used to restrict the frequency characteristic.Genetic algorithm is used to optimize the system parameters. MonteCarlo method is used to evaluate the robustness of the control system. Simulation results show that in the condition of external disturbance, parameters perturbation and coupling, the slopes of the performance curves obtained by using the control system designed have more than 43.7% in low frequency zone and less than 13.4% in high frequency zone characteristic as compared with classical controller, has less 0.2 s performance time, and has performance robustness of low disturbance sensitivity.

Key words: gyro-stabilized platform, active disturbance rejection control, Tornambe control, advance compensator, state compensating control

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