三轴飞行仿真转台频带拓宽技术研究

将广泛应用于机器人手臂控制等其它柔性控制系统的输入指令整形减振技术移植到转台应用中,并对输入指令整形器的设计方法、对系统参数变化的鲁棒性进行了探讨和研究,最后以某单轴台控制系统为对象进行了实验,结果表明,输入指令整形器以前馈的形式应用于单轴台的控制系统时,既不影响系统的稳定性,又可以很好地抑制频带拓宽时的机械谐振,而且对系统参数变化具有较高的鲁棒性.此外,因其算法简单,且容易实现和调试,所以可作为拓宽飞行仿真转台频带的一种新途径.

The Research on Widening the Band for Three-Axis Flight Simulation Table

To suppress the vibration of a flight simulation table, this paper applies the command shaping technique which is widely applied to the flexible control system such as the robot manipulator's control system. Also, the method of the command shaper design and the shaper's robustness to parameters' change are researched and discussed, then a lot of experiments are carried out on the some random following control system. The results of experiments show that a command shaper can be used to suppress the mechanical resonance without affecting the stability and with the higher robustness to parameters' change, when it is introduced into a flight simulation table's control system in the feedforward form. In addition, the command shaping technique can be used as a new approach to widen a flight simulation table's band-width due to its simple algorithm and easy implementing.