机载陀螺稳定平台的自抗扰控制算法研究

发布时间：2018-12-11 16:30

【摘要】：陀螺稳定平台作为典型的伺服控制系统,在弹载、舰载、机载以及航空航天等高科技领域中都得到了广泛的应用。随着现代化战争的需求,陀螺稳定平台对稳定精度的要求越来越高,传统的PID控制方法已经无法满足控制系统的需求。因此,本文通过对控制系统建模、摩擦力分析、自抗扰控制算法改进等内容进行研究,提高了自抗扰控制器的抗扰能力和跟踪特性,使陀螺稳定平台的稳定精度得到大幅度提升。自抗扰控制(ADRC)技术是一种新型的控制策略,它具有不依赖被控系统精确模型的优点,且算法简单,具有很好的鲁棒性,可以实时地估量补偿被控系统内的各种干扰,这是经典控制技术所不具备的。本文主要以两轴四框架的机载陀螺稳定平台作为被控对象,运用自抗扰控制方法展开了相关的理论以及仿真研究。由于陀螺稳定平台在大部分情况下都处在低速的工作环境,且在此环境下受到的摩擦干扰尤为严重,所以本文在不考虑陀螺噪声等其他干扰因素对控制系统影响的前提下,利用自抗扰控制将摩擦干扰和系统模型误差归结为系统的总扰动,并实时估计出总扰动的值,对控制量进行动态补偿,从而提高其闭环系统的控制性能。仿真实验表明,自抗扰控制系统具有响应速度快,抗干扰能力强,稳态精度高等优良特性。本文的创新之处是:将传统自抗扰控制器中所用到的非线性函数fal(·) 改进为在整个实数域内的光滑连续函数bas(·) ,并将改进后的自抗扰控制器应用于机载陀螺稳定平台系统中。
[Abstract]:As a typical servo control system, gyro stabilized platform has been widely used in high technology fields such as missile, ship, airborne, aerospace and so on. With the demand of modern war, the precision of gyroscope stabilization platform is higher and higher. The traditional PID control method can not meet the demand of the control system. Therefore, by studying the modeling of control system, friction analysis and improvement of ADRC algorithm, this paper improves the immunity and tracking characteristics of ADRC. The stability accuracy of gyroscope stabilized platform is greatly improved. Auto-disturbance rejection control (ADRC) technology is a new control strategy. It has the advantages of independent of the precise model of the controlled system, simple algorithm and good robustness. It can be used to estimate and compensate all kinds of disturbances in the controlled system in real time. This is a classic control technology does not have. In this paper, the airborne gyroscope stabilized platform with two axes and four frames is used as the controlled object, and the related theory and simulation research are carried out by using the ADRC method. The gyroscope stabilized platform is in the low-speed working environment in most cases, and the friction interference is especially serious in this environment, so this paper does not consider the influence of gyro noise and other interference factors on the control system. The friction disturbance and the model error of the system are reduced to the total disturbance of the system by using active disturbance rejection control, and the total disturbance is estimated in real time, and the control quantity is dynamically compensated to improve the control performance of the closed-loop system. The simulation results show that the ADRC system has the advantages of fast response speed, strong anti-jamming ability and high steady-state precision. The innovation of this paper is to improve the nonlinear function fal () used in traditional ADRC to smooth continuous function bas (), in the whole real number domain. The improved ADRC is applied to the airborne gyroscope stabilized platform system.
【学位授予单位】：长春理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

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