自抗扰控制技术在转台频响伺服中的应用

付永领; 龙满林; 郭栋; 牛建军

自抗扰控制技术在转台频响伺服中的应用

1.
北京航空航天大学机械工程及自动化学院, 北京 100191
2. 北京航空航天大学自动化科学与电气工程学院, 北京 100191
3. 辽宁工业大学电气工程学院, 锦州 121000

详细信息

中图分类号: TH 137
计量
- 文章访问数: 1884
- HTML全文浏览量: 217
- PDF下载量: 772
- 被引次数: 0
出版历程
- 收稿日期: 2012-04-05
- 网络出版日期: 2013-04-30

Application of ADRC technology in simulator frequency response servo

1.
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
2. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
3. School of Electrical Engineering, Liaoning University of Technology, Jinzhou 121000, China

摘要

摘要: 在转台频响伺服中,针对低频和低速时干扰难补偿、高频时相位滞后和幅值衰减程度急剧恶化、常规控制策略严重依赖精确对象模型等难题,引入不依赖精确对象模型的自抗扰控制技术,并设计了控制系统.控制系统中,自抗扰控制器用来在线观测补偿干扰,前置处理单元用来补偿相位和幅值.控制系统应用到转台频响伺服中,实测得到的"双十"标准下最大跟踪频率和扫频频率都大于转台出厂时的验收指标.实测结果表明:自抗扰控制技术应用到转台频响伺服中可以有效提升转台的频响性能.
- 转台 /
- 自抗扰控制 /
- 频响性能 /
- 伺服控制
Abstract: In simulator frequency response servo, there are some difficulties, including disturbance compensation when low frequency or low speed, a sharp deterioration of phase lag and amplitude attenuation when high frequency, the problem of conventional control strategy depending on high precise object model heavily, etc. Active disturbance rejection control(ADRC) technology which doesn’t depend on object model was introduced to solve those difficulties. Active disturbance rejection controller was designed to online observe and compensate disturbance, and pre-processing unit was designed to compensate phase and amplitude. It was applied in frequency response servo of the simulator. The measured results of tracking frequency and swept frequency according to the "Double Ten" standard were greater than the acceptance criteria of the simulator. It is showed that ADRC technology introduced in simulator frequency response servo can effectively improve frequency response characteristics of simulator.
- simulator /
- active disturbance rejection control(ADRC) /
- frequency response /
- servo control

HTML全文

参考文献(9)

[1]	富强,尔联洁,赵国荣．基于定量反馈理论的飞行仿真转台鲁棒控制[J]．北京航空航天大学学报,2004,30(5):410-413 Fu Qiang,Er Lianjie,Zhao Guorong．Robust control based on quantitative feedback theory for flight simulator[J]．Journal of Beijing University of Aeronautics and Astronautics,2004,30 (5):410-413(in Chinese)
[2]	张从鹏,刘强．直线电动机定位平台的摩擦建模与补偿[J]．北京航空航天大学学报,2008,34 (1):47-50 Zhang Congpeng,Liu Qiang．Friction modeling and compensation of positioning stage driven by linear motor[J]．Journal of Beijing University of Aeronautics and Astronautics,2008,34 (1):47-50(in Chinese)
[3]	Niu Jianjun,Fu Yongling,Qi Xiaoye．Design and application of discrete sliding mode control with RBF network-based switching law[J].Chinese Journal of Aeronautics,2009,22(3):279-284
[4]	刘强,尔联洁．飞行仿真转台基于干扰观测器的鲁棒跟踪控制[J]．北京航空航天大学学报,2003,29(2):181-184 Liu Qiang,Er Lianjie．Disturbance observer based robust tracking control of high precision flight simulator[J]．Journal of Beijing University of Aeronautics and Astronautics,2003,29 (2):181-184(in Chinese)
[5]	付永领,牛建军,王岩．Stribeck模型模糊整定及其在转台控制中的应用[J]．北京航空航天大学学报,2009,35(6):701-704 Fu Yongling,Niu Jianjun,Wang Yan．Fuzzy tuning Stribeck model and its application on flight motion simulator control[J]．Journal of Beijing University of Aeronautics and Astronautics,2009,35 (6):701-704(in Chinese)
[6]	Long Manlin,Fu Yongling,Chen Shuangqiao,et al．Flight simulator table servo control based on ADRC strategy //The 29th Chinese Control Conference．Beijing:IEEE,2010:3497-3501
[7]	韩京清．自抗扰控制技术——估计补偿不确定因素的控制技术[M]．北京:国防工业出版社,2008 Han Jingqing．Active disturbance rejection control technology—the technology for estimating and compensating the uncertainties [M]．Beijing:National Defense Industry Press,2008(in Chinese)
[8]	韩京清．自抗扰控制器及其应用[J]．控制与决策,1998,13(1):19-23 Han Jingqing．Auto-disturbances-rejection-controller and its application[J]．Control and Decision,1998,13(1):19-23(in Chinese)
[9]	Long Manlin,Li Guanghua,Chen Shuangqiao,et al．ADRC algorithm applied in electro-hydraulic servo system //Proceedings of 2011 International Conference on Electronic and Mechanical Engineering and Information Technology．Harbin:IEEE,2011:1888-1891