舵机加载系统的鲁棒力矩渐近跟踪控制

针对舵机加载系统中存在未建模部分、时变、非线性等因素,设计了鲁棒力矩渐近跟踪控制器。分析了系统结构,并建立系统简化模型。为了抑制舵机运动扰动对加载系统的影响,提高系统跟踪性能,将舵机运动作为外干扰进行处理。根据系统输入信号的特点,基于内模原理,分别利用系统的传递函数和状态空间模型设计鲁棒渐近跟踪与干扰抑制控制器。针对期望极点难以选取的问题,利用最优化方法设计系统控制律,并引入期望衰减度调节系统力矩跟踪和扰动抑制性能。仿真结果表明,所设计的控制器能使系统获得较理想的跟踪性能,基于状态空间的最优化方法方便了系统设计。

Robust Torque Asymptotical Tracking Control for the Actuator Load System

The robust torque asymptotical tracking controller is designed for the actuator load system,considering the existence of the unmodelled part,time-variance,nonlinearity etc.The system configuration is provided and its main mathematical model is established.To eliminate the influence of actuator motion on system and improve system performance,the actuator motion is modelled as external disturbance.Two robust asymptotical tracking and distrubance rejection methods are designed based on internal model by using transfer function and state equation separately,according to the characteristic of input signal.Condering that the desired poles is hard to selected,a control law with optimization is designed and the decay rate is introduced to adjust the system performance.Simulation proves that the robust torque asymptotical tracking controller works well,and the optimal method based on state equation provides the convenience for system design.