摘要
针对飞行器飞行中要求电动舵机具有快速跟踪性和良好的抗扰性,提出了改进的自抗扰控制器,将线性自抗扰控制器和Fal函数结合应用到舵机系统的速度环控制中;首先建立了舵机数学模型,介绍了改进自抗扰控制技术的工作原理,通过理论分析和仿真验证,给出了控制器参数选择依据;其次进行仿真分析,初步验证了该方法的可行性。最后在某型号舵机上进行实验,并将此方法和PID控制器进行对比;实验结果表明,该方法消除系统内外部的扰动,并能对量测环节的噪声进行滤波,改善舵机控制系统的动态和稳态性能,性能优于传统PID控制器。
When aircraft is maneuvered, the performance of fast response and strong anti--disturbance is required on Electromechanical Actuator （EMA）, the method of improved Active Disturbance Rejection Controller （ADRC） is proposed. This method combing linear--AD- RC and Fal function is used to control the speed loop of the EMA. First, the Mathematical model of the EMA is established, and the opera- tion principle and features of improved ADRC are described. According to theoretical analysis and simulation, the design method and selection rules of the controller parameters are given in this paper. Then through simulation under different input conditions, the feasibility of this method is demonstrated. At last, the experiments are performed on certain EMA. In conclusion, compared with PID controller, the im- proved ADRC has a fast response, slight overshoot and high accuracy in stability, as well as strong anti--disturbance and robustness. Meas- urement noise is reduced.
出处
《计算机测量与控制》
北大核心
2013年第9期2457-2460,共4页
Computer Measurement &Control
基金
中国科学院知识创新工程国防科技创新重要项目(YYYJ-1122)
关键词
电动舵机
自抗扰控制
Fal函数
滤波
electromechanical actuator （EMA）
active disturbance rejection controller （ADRC）
Fal function
filter
