摘要
针对飞行仿真转台中干扰观测器(DOB)对等效干扰项估计不足而影响跟踪精度的问题,提出一种基于DOB的滑模变结构控制器(SMVSC).它引入了附加干扰补偿项以及跟踪指令的速度信号和加速度信号,定义了一种新的滑模趋近律形式,并满足系统广义滑模存在条件.通过某单轴飞行仿真转台的实验结果表明,与传统的比例微分(PD)控制器+DOB方案相比,该控制方案提高了跟踪精度,同时,对系统参数变化和力矩扰动也具有更强的鲁棒性.
Because disturbance observer（DOB） underestimates the equivalent disturbances in flight simulator system,one sliding mode variable structure controller（SMVSC） based on DOB was proposed.The controller introduces additional compensation for disturbances,velocity and acceleration of tracking signals,and a new sliding approach law for the SMVSC was defined,then the system meets the conditions for the existence of generalized sliding mode.The experiments on one single-axis flight simulator show that the proposed control scheme improves the tracking performance with more robustness against parameter uncertainty and extern disturbance,contrasted with the traditional PD＋DOB scheme.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2011年第3期393-397,402,共6页
Journal of Shanghai Jiaotong University
基金
教育部新世纪优秀人才计划项目(NCET-07-0044)
关键词
干扰观测器
滑模变结构控制
飞行仿真转台
鲁棒性
disturbance observer
sliding mode variable structure control
flight simulator
robustness
