Disturbance Observer Based Robust Tracking Control of HighPrecision Flight Simulator
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摘要: 对三轴飞行仿真转台系统,提出一种基于干扰观测器的鲁棒数字跟踪控制器的设计综合方法.该控制器由前馈控制器、闭环控制器及摩擦补偿环节组成.前馈环节由零相差跟踪控制器ZPETC (Zero Phase Error Tracking Controller)及FIR滤波器构成,闭环由比例微分(PD)控制及干扰观测器构成,摩擦补偿采用基于库仑模型的固定补偿方法.实验结果表明,该方法能有效提高跟踪性能,并且对系统参数变化和力矩扰动具有很强的鲁棒性.Abstract: Design method of a robust digital tracking controller based on disturbance observer for high precision flight simulator was presented. The controller consists of feedforward controller, feedback controller and friction compensation term. Feedforward controller composes of a zero phase error tracking controller and a zero phase low pass filter. Feedback controller consists of a proportional derivative controller and a disturbance observer. Columb friction model based fixed compensation was used in friction compensation term. Experimental results demonstrated that the proposed controller can effectively improve tracking performance, with strong robustness against parameter uncertainty and extern disturbance.
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Key words:
- interference /
- observations /
- feedforward /
- friction /
- tracking /
- zero phase error /
- flight simulator
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