摘要
双轴旋转惯导中转位机构在动态环境下存在的轴间非线性耦合是影响系统控制性能以及导航精度的重要因素。为了解决这一问题,首先建立了转位机构的一般化耦合数学模型,采用Singh算法求出了逆系统,运用非线性解耦的方法进行了解耦控制律设计。为了进一步解决解耦算法对模型的强依赖性问题,基于超稳定性和正性的方法进行了自适应模型跟随控制器设计。结果表明,自适应模型跟随控制器能够保证系统在系统参数变化甚至是阶次变化时仍具有较好的控制性能。
The nonlinear coupling among axes in rotary servo of dual-axis rotation-modulating SINS is an important issue which deteriorates the system control performance and navigation accuracy. Firstly, a general coupling mathematical model is es-tablished, then its inverse system is obtained by using Singh algorithm and the nonlinear decoupling method is given to design the decoupling control law. A design scheme of adaptive control model following controller based on hyperstability theorem and positivity concept is proposed, and the method can solve the problem of the influenced control performance due to dynamical situation. The simulation result shows that the designed controller can achieve good control performance under the condition of parameters variation or even under the circumstance of the variation of the controlled mathematic models＇order.
出处
《现代电子技术》
2013年第1期94-98,共5页
Modern Electronics Technique
基金
中央高校基本科研业务费专项资金资助(YWF-10-01-B30)
关键词
逆系统
模型解耦
适应控制
转位机构
双轴旋转惯导
inverse system
model decoupling
adaptive control
rotating servo
dual-axis rotation inertial navigation
