气球吊篮姿态的自适应控制

本文从理论上分析了吊篮姿态控制系统数学模型中参数的不确定性,并且通过数字仿真和实验验证了这种不确定性对系统控制性能的影响.为保证得到良好的控制特性,在Popov超稳定理论的基础上,引出了气球吊篮姿态的模型参考自适应控制法.本文推出一套具有时变自适应增益的离散自适应算法,并在此基础上进行了大量数字仿真.仿真结果表明,吊篮姿态的模型参考自适应方法可以解决吊篮姿态的经典控制方法难以应付的参数大幅度变化、参数未知和非线性等问题.另外,与其它自适应方法相比,该方法还有自适应速度快、工程上易于实现等优点. 

Adaptive Control of Scientific Balloon-Borne Gondola Attitude

The uncertainty of parameters of the mathematical model for the control system of balloon-borne gondola attitude is analysed in this paper. The effects of such uncertainty on the system performance are also verified through digital simulations and experiments. To search the ideal control characteristics, a model reference adaptive control for gondola attitude is developed based on Popov's hyperstability theory. This paper presents the discrete adaptive algorithm which gives time varying adaptive gain. Large amount of digital simulations are conducted accordingly. The results show the advantages of this new method over the traditional one in coping with the problems such as parameter variations over a wide arrange, unknown parameters and nonlinearities. The new approach also proves to have kigher adaptive speed and to be implemented more easily as compared with other adaptive control methods.