摘要
针对一种并联式光电观测平台具有不确定性与干扰复杂的问题,提出了一种带有干扰观测器的鲁棒控制策略。该控制策略利用干扰观测器观测系统的不确定性和外界干扰,对引入干扰观测器后的系统设计了滑模控制器,并证明了该控制策略的稳定性。实验结果表明,与常规PID方法±0.3°的跟踪误差相比,该控制策略在干扰条件下将跟踪误差减小到±0.06°,说明其能够有效抑制平台的不确定性和干扰,具有较好的鲁棒性和跟踪精度。
Considering the uncertainties and disturbances of the parallel optoelectronics observation platform,a robust control strategy with disturbance observer was proposed.The disturbance observer was used to observe the uncertainties and disturbance of the system.The sliding mode control was designed with disturbance observ-er.The stability of the system had been proved.Compared with PID control,the proposed method reduced the tracking error from ＆#177;0.3°to ＆#177;0.06°as shown in the experiments.It was indicated that the proposed method had strong robust to overcome the uncertainties and disturbances,and also the better tracking accuracy.
出处
《探测与控制学报》
CSCD
北大核心
2014年第3期69-72,76,共5页
Journal of Detection & Control
基金
国家自然科学基金资助(60908037)
关键词
并联机构
动力学建模
干扰观测器
滑模控制
工作空间
parallel mechanism
dynamic modeling
disturbance observer
sliding mode control
workspace
