北京航空航天大学学报 ›› 2003, Vol. 29 ›› Issue (2): 181-184.

• 论文 • 上一篇    下一篇

飞行仿真转台基于干扰观测器的鲁棒跟踪控制

刘强, 尔联洁   

  1. 北京航空航天大学 自动化科学与电气工程学院
  • 收稿日期:2001-12-24 发布日期:2003-02-25
  • 作者简介:刘 强(1972-),男,吉林四平人,博士生,100083,北京.
  • 基金资助:

    航空基础科学基金资助项目(00E51022)

Disturbance Observer Based Robust Tracking Control of HighPrecision Flight Simulator

Liu Qiang, Er Lianjie   

  1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics
  • Received:2001-12-24 Published:2003-02-25

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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